Merge branch 'devel' into master

.gitattributes

@@ -0,0 +1,2 @@
+# GitHub syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true

.github/workflows/linux.yml

@@ -11,6 +11,8 @@ on:
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
   pull_request:
     paths-ignore:
       - doc/**
@@ -21,6 +23,8 @@ on:
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true

.github/workflows/macos-linux-conda.yml → .github/workflows/macos-linux-windows-pixi.yml

@@ -1,6 +1,8 @@
-name: CI - OSX/Linux via Conda
+name: CI - MacOS/Linux/Windows via Pixi
 
 on:
+  schedule:
+    - cron: '0 0 * * 1'
   push:
     paths-ignore:
       - doc/**
@@ -11,6 +13,8 @@ on:
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
   pull_request:
     paths-ignore:
       - doc/**
@@ -21,13 +25,15 @@ on:
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  pinocchio-conda:
-    name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda
+  pinocchio-pixi:
+    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }}
     runs-on: ${{ matrix.os }}
     env:
       CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
@@ -39,82 +45,99 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, macos-latest]
+        os: [ubuntu-latest, macos-latest, macos-13]
+        environment: [all, all-py39]
         build_type: [Release, Debug]
-        python-version: ['3.8', '3.12']
 
         include:
+          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
           - os: ubuntu-latest
             BUILD_ADVANCED_TESTING: OFF
-          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
           - os: macos-latest
             BUILD_ADVANCED_TESTING: OFF
+          - os: macos-13
+            BUILD_ADVANCED_TESTING: OFF
+          - os: windows-latest
+            environment: all
+            build_type: Release
+            BUILD_ADVANCED_TESTING: OFF
+          - os: windows-latest
+            environment: all-clang-cl
+            build_type: Release
+            BUILD_ADVANCED_TESTING: OFF
+
 
     steps:
+      # extract branch name or checkout devel branch for scheduled events
+      - name: Get branch name or checkout devel
+        shell: bash -el {0}
+        run: |
+          if [ "${{ github.event_name }}" == "schedule" ]; then
+            echo "BRANCH_NAME=devel" >> $GITHUB_ENV
+            echo "LABELS=build_all" >> $GITHUB_ENV
+          else
+            echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV
+          fi
+
       - uses: actions/checkout@v4
         with:
+          ref: ${{ env.BRANCH_NAME }}
           submodules: recursive
 
       - uses: actions/cache@v4
         with:
           path: .ccache
-          save-always: true
           key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }}
           restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-
 
-      - uses: conda-incubator/setup-miniconda@v3
+      - uses: prefix-dev/setup-[email protected]
         with:
-          activate-environment: pinocchio-linux
-          auto-update-conda: true
-          environment-file: .github/workflows/conda/environment_macos_linux.yml
-          python-version: ${{ matrix.python-version }}
-          auto-activate-base: false
+          pixi-version: v0.33.0
+          cache: true
+          environments: ${{ matrix.environment }}
 
+      # Avoid filling all disk space with debug symbols
       - name: Setup CMAKE_TOOLCHAIN_FILE
         if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug')
         run: |
           echo "CMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake" >> "$GITHUB_ENV"
+
       - name: Get Compilation Flags
         id: get_labels
         uses: actions/github-script@v7
+        env:
+          LABELS: ${{ env.LABELS }}
         with:
           script: |
             const script = require('./.github/workflows/scripts/get_compilation_flags.js');
             await script({github, context, core})
           result-encoding: string
 
-      - name: Build Pinocchio
+      - name: Build Pinocchio [MacOS/Linux/Windows]
         shell: bash -el {0}
+        env:
+          CMAKE_BUILD_PARALLEL_LEVEL: 2
+          PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
         run: |
-          conda list
-          echo $CONDA_PREFIX
-
-          mkdir build
-          cd build
-
-          cmake .. \
-            -G "Ninja" \
-            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
-            -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
-            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          # Launch configure but overwrite default options
+          pixi run -e ${{ matrix.environment }} configure \
             -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
             ${{ steps.get_labels.outputs.cmakeFlags }}
-          cmake --build . -j2
-          ctest --output-on-failure
-          cmake --install .
+          pixi run -e ${{ matrix.environment }} cmake --build build --target all
+          pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure
+          pixi run -e ${{ matrix.environment }} cmake --install build
 
       - name: Uninstall Pinocchio
         shell: bash -el {0}
         run: |
-          cd build
-          cmake --build . --target uninstall
+          cmake --build build --target uninstall
 
   check:
     if: always()
-    name: check-macos-linux-conda
+    name: check-macos-linux-windows-pixi
 
     needs:
-      - pinocchio-conda
+      - pinocchio-pixi
 
     runs-on: Ubuntu-latest
 

.github/workflows/nix.yml

@@ -2,6 +2,15 @@ name: "CI - Nix"
 
 on:
   push:
+    paths-ignore:
+      - doc/**
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - COPYING.LESSER
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
 
 jobs:
   nix:
@@ -11,7 +20,7 @@ jobs:
         os: [ubuntu, macos]
     steps:
       - uses: actions/checkout@v4
-      - uses: cachix/install-nix-action@v29
+      - uses: cachix/install-nix-action@v30
       - uses: cachix/cachix-action@v15
         with:
           name: gepetto

.github/workflows/ros-ci.yml

@@ -13,7 +13,10 @@ on:
       - '*.md'
       - CITATION.*
       - COPYING.LESSER
+      - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
   pull_request:
     paths-ignore:
       - doc/**
@@ -22,7 +25,10 @@ on:
       - '*.md'
       - CITATION.*
       - COPYING.LESSER
+      - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
@@ -60,5 +66,5 @@ jobs:
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
           restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
       # Run industrial_ci
-      - uses: ros-industrial/industrial_ci@d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b
+      - uses: ros-industrial/industrial_ci@8d0620b3c43fc3bb2599b6ede6e0a261a2eced02
         env: ${{ matrix.env }}