Migrate from Travis CI to Github workflows

.ci/install.sh

@@ -10,51 +10,61 @@ git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/ycm.git
 cd ycm
 mkdir build && cd build
 cmake .. \
-    -G"$TRAVIS_CMAKE_GENERATOR" \
+    -G"$CMAKE_GENERATOR" \
     -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
 cmake --build . --target install
 
-# Install Yarp
+# Install YARP
 cd $HOME/git
-git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/yarp.git
+git clone --depth 1 https://github.com/robotology/yarp.git
 cd yarp
 mkdir build && cd build
 cmake .. \
-    -G"$TRAVIS_CMAKE_GENERATOR" \
-    -DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE \
-    -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE \
-    -DCREATE_LIB_MATH=ON
-cmake --build . --config $TRAVIS_BUILD_TYPE --target install
+    -G"$CMAKE_GENERATOR" \
+    -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
+    -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
+cmake --build . --config $CMAKE_BUILD_TYPE --target install
 
 # Install icub-main
 cd $HOME/git
- git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/icub-main.git
+git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/icub-main.git
 cd icub-main
 mkdir build && cd build
 cmake .. \
-    -G"$TRAVIS_CMAKE_GENERATOR" \
-    -DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE \
+    -G"$CMAKE_GENERATOR" \
+    -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
     -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
-cmake --build . --config $TRAVIS_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS
+cmake --build . --config $CMAKE_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS
 
 # Install iDynTree
 cd $HOME/git
 git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/idyntree.git
 cd idyntree
 mkdir build && cd build
 cmake .. \
-    -G"$TRAVIS_CMAKE_GENERATOR" \
-    -DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE \
+    -G"$CMAKE_GENERATOR" \
+    -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
+    -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
+cmake --build . --config $CMAKE_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS
+
+# Install QpOASES
+cd $HOME/git
+git clone --depth 1 https://github.com/robotology-dependencies/qpOASES.git
+cd qpOASES
+mkdir build && cd build
+cmake .. \
+    -G"$CMAKE_GENERATOR" \
+    -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
     -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
-cmake --build . --config $TRAVIS_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS
+cmake --build . --config $CMAKE_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS
 
 # Install BlockFactory
 cd $HOME/git
-git clone --depth 1 https://github.com/robotology/blockfactory
+git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/blockfactory
 cd blockfactory
 mkdir build && cd build
 cmake .. \
-    -G"$TRAVIS_CMAKE_GENERATOR" \
-    -DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE \
+    -G"$CMAKE_GENERATOR" \
+    -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
     -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
-cmake --build . --config $TRAVIS_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS
+cmake --build . --config $CMAKE_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS

.github/workflows/ci.yml

@@ -0,0 +1,70 @@
+name: CI
+
+on:
+  push:
+  pull_request:
+
+jobs:
+
+  ci:
+    name: '${{ matrix.os }}'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os:
+          - ubuntu-latest
+          - macos-latest
+
+    steps:
+
+      - uses: actions/checkout@master
+      - run: git fetch --prune --unshallow
+
+      - name: 'Ubuntu: System Dependencies'
+        if: matrix.os == 'ubuntu-latest'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            libace-dev libeigen3-dev libgsl-dev libedit-dev \
+            python3-numpy libxml2-dev coinor-libipopt-dev \
+            ninja-build
+
+      - name: 'MacOS: System Dependencies'
+        if: matrix.os == 'macos-latest'
+        run: brew install ace assimp eigen tinyxml gsl ipopt ninja
+
+      - name: Setup dependencies branch [master]
+        if: |
+          github.ref == 'refs/heads/master' ||
+          (github.event_name == 'pull_request' && github.event.pull_request.head.ref == 'refs/heads/master')
+        run: echo "DEPS_BRANCH=master" >> $GITHUB_ENV
+
+      - name: Setup dependencies branch [other]
+        if: |
+          (github.event_name == 'push' && github.ref != 'refs/heads/master') ||
+          (github.event_name == 'pull_request' && github.event.pull_request.head.ref != 'refs/heads/master')
+        run: echo "DEPS_BRANCH=devel" >> $GITHUB_ENV
+
+      - name: Install dependencies
+        run: |
+          export DEPS_CACHE=$HOME/deps
+          export PATH=$PATH:$DEPS_CACHE/bin
+          export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEPS_CACHE
+          ./.ci/install.sh || false
+        env:
+          CMAKE_GENERATOR: Ninja
+          CMAKE_BUILD_TYPE: Debug
+
+      - name: Build
+        run: |
+          export DEPS_CACHE=$HOME/deps
+          export PATH=$PATH:$DEPS_CACHE/bin
+          export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEPS_CACHE
+          mkdir build && cd build
+          cmake ..\
+            -G"$CMAKE_GENERATOR" \
+            -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE
+          cmake --build . --config $CMAKE_BUILD_TYPE
+        env:
+          CMAKE_GENERATOR: Ninja
+          CMAKE_BUILD_TYPE: Debug

.github/workflows/website.yml

@@ -0,0 +1,96 @@
+name: Website
+
+on:
+  push:
+  pull_request:
+    branches:
+      - master
+      - devel
+
+jobs:
+  website:
+    name: Build and Deploy
+    runs-on: ubuntu-20.04
+
+    steps:
+
+      - uses: actions/checkout@master
+        with:
+          persist-credentials: false
+
+      - run: git fetch --prune --unshallow
+
+      - name: Inspect Environment
+        run: |
+          env | grep ^GITHUB
+          cat ${GITHUB_EVENT_PATH}
+
+      - name: Setup Python
+        uses: actions/setup-python@v1
+        with:
+          python-version: 3.8
+          architecture: x64
+
+      - name: Install website dependecies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y doxygen graphviz texlive-font-utils
+          pip install "tornado<6.0" mkdocs Pygments mkdocs-material
+
+      - name: Generate documentation
+        run: |
+          mkdir build
+          cd build
+          cmake .. -G"Unix Makefiles" -DWBT_BUILD_DOCS:BOOL=TRUE
+          make dox
+          make mkdocs
+
+      - name: Clone gh-pages
+        run: |
+          git ls-remote --heads --exit-code https://github.com/robotology/wb-toolbox gh-pages
+          git clone -b gh-pages https://github.com/robotology/wb-toolbox ${GH_PAGES_ROOTDIR}
+          echo "GH_PAGES_ROOTDIR=${GH_PAGES_ROOTDIR}" >> $GITHUB_ENV
+        env:
+          GH_PAGES_ROOTDIR: build/ghpages
+
+      - name: Select deploy folder [master]
+        if: |
+          (github.event_name == 'push' && github.ref == 'refs/heads/master') ||
+          (github.event_name == 'pull_request' && github.event.pull_request.head.ref == 'refs/heads/master')
+        run: echo "DEPLOY_FOLDER=${GH_PAGES_ROOTDIR}" >> $GITHUB_ENV
+
+      - name: Select deploy folder [other]
+        if: |
+          (github.event_name == 'push' && github.ref != 'refs/heads/master') ||
+          (github.event_name == 'pull_request' && github.event.pull_request.head.ref != 'refs/heads/master')
+        run: echo "DEPLOY_FOLDER=${GH_PAGES_ROOTDIR}/devel" >> $GITHUB_ENV
+
+      - name: Prepare deploy folder
+        run: |
+          mkdir -p $DEPLOY_FOLDER
+          cd $GH_PAGES_ROOTDIR
+          touch .nojekyll
+          git config push.default simple
+
+      - name: Populate deploy folder
+        run: |
+          rm -rf $DEPLOY_FOLDER/mkdocs
+          rm -rf $DEPLOY_FOLDER/doxygen
+          mv $MKDOCS_INPUT_FOLDER $DEPLOY_FOLDER/mkdocs
+          mv $DOXYGEN_INPUT_FOLDER/html $DEPLOY_FOLDER/doxygen
+        env:
+          MKDOCS_INPUT_FOLDER: build/doc/mkdocs
+          DOXYGEN_INPUT_FOLDER: build/doc/doxygen
+
+      - name: Deploy
+        uses: JamesIves/github-pages-deploy-action@releases/v3
+        if: |
+          github.event_name == 'push' &&
+          github.repository == 'robotology/wb-toolbox' &&
+          (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/devel')
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          BRANCH: gh-pages
+          FOLDER: build/ghpages
+          CLEAN: true
+          CLEAN_EXCLUDE: '[".gitignore", ".nojekyll", "index.html"]'