CI Workflow #1935
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: CI Workflow | |
| on: | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - 'master' | |
| - 'feat/**' | |
| - 'fix/**' | |
| pull_request: | |
| schedule: | |
| # * is a special character in YAML so you have to quote this string | |
| # Execute a "nightly" build at 2 AM UTC | |
| - cron: '0 2 * * *' | |
| jobs: | |
| build: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| os: [windows-latest, ubuntu-latest] | |
| steps: | |
| - uses: actions/checkout@main | |
| - name: Display environment variables | |
| shell: bash | |
| run: env | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: Download Vcpkg Prebuilt Dependencies [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: pwsh | |
| run: | | |
| $response = gh api --paginate -H "Accept: application/vnd.github.v3+json" /repos/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest | |
| $latest_tag = ($response | ConvertFrom-Json).tag_name | |
| echo "Installing robotology-superbuild-dependencies-vcpkg@$latest_tag" | |
| iwr -Uri https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/$latest_tag/vcpkg-robotology.zip -OutFile C:/vcpkg-robotology.zip | |
| 7z x C:/vcpkg-robotology.zip -oC:/ | |
| "VCPKG_INSTALLATION_ROOT=C:/robotology/vcpkg" >> $env:GITHUB_ENV | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Build Vcpkg Dependencies [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| ${VCPKG_INSTALLATION_ROOT}/vcpkg.exe install --overlay-ports=C:/robotology/robotology-vcpkg-ports --recurse --triplet x64-windows fftw3 | |
| - name: Install Dependencies [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| run: | | |
| sudo apt update | |
| sudo apt install -y git build-essential pkg-config zip unzip zlib1g-dev cmake libace-dev coinor-libipopt-dev libeigen3-dev swig \ | |
| qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libtinyxml-dev libgsl-dev libmatio-dev fftw3 wget curl autoconf \ | |
| autogen automake libtool mlocate python3 python3-numpy python3-dev python3-pip python3-wheel libglvnd-dev | |
| # install Bazel 0.26.1 needed by tensorflow_cc | |
| #wget https://github.com/bazelbuild/bazel/releases/download/0.26.1/bazel_0.26.1-linux-x86_64.deb | |
| #sudo dpkg -i bazel_0.26.1-linux-x86_64.deb | |
| - name: Determine YCM and YARP versions required by ICUB | |
| shell: bash | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| if [ "$RUNNER_OS" == "Windows" ]; then | |
| choco install wget | |
| fi | |
| wget -O CMakeLists.txt.icub-main https://raw.githubusercontent.com/robotology/icub-main/devel/CMakeLists.txt | |
| grep -m 1 YCM_REQUIRED_VERSION CMakeLists.txt.icub-main | sed "s/[^0-9.]//g" >> YCM_VERSION.txt | |
| grep -m 1 YARP_REQUIRED_VERSION CMakeLists.txt.icub-main | sed "s/[^0-9.]//g" >> YARP_VERSION.txt | |
| echo "ycm_version=$(cat YCM_VERSION.txt)" >> $GITHUB_ENV | |
| echo "yarp_version=$(cat YARP_VERSION.txt)" >> $GITHUB_ENV | |
| - name: Build Source-based Dependencies [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| # ycm | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }} | |
| cd ycm && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # yarp | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp.git --depth 1 --branch v${{ env.yarp_version }} | |
| cd yarp && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # icub-main | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-main.git --depth 1 --branch devel | |
| cd icub-main && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DENABLE_icubmod_cartesiancontrollerserver=ON -DENABLE_icubmod_cartesiancontrollerclient=ON \ | |
| -DENABLE_icubmod_gazecontrollerclient=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # cer | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/cer.git --depth 1 --branch devel | |
| cd cer && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # icub-contrib-common | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-contrib-common.git --depth 1 | |
| cd icub-contrib-common && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| - name: Build Source-based Dependencies [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash | |
| run: | | |
| # opencv | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/opencv/opencv.git --depth 1 --branch 4.6.0 | |
| git clone https://github.com/opencv/opencv_contrib.git --depth 1 --branch 4.6.0 | |
| cd opencv && mkdir -p build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DOPENCV_EXTRA_MODULES_PATH=${GITHUB_WORKSPACE}/opencv_contrib/modules \ | |
| -DBUILD_EXAMPLES=OFF -DBUILD_DOCS=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # vtk | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/Kitware/VTK.git --depth 1 --branch v9.2.2 | |
| cd VTK && mkdir -p build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # tensorflow_cc | |
| #cd ${GITHUB_WORKSPACE} | |
| #git clone https://github.com/FloopCZ/tensorflow_cc.git --depth 1 --branch master | |
| #cd tensorflow_cc/tensorflow_cc && mkdir -p build && cd build | |
| #cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DTENSORFLOW_STATIC=OFF -DTENSORFLOW_SHARED=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| #cmake --build . --config ${{ matrix.build_type }} --target install | |
| # ycm | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }} | |
| cd ycm && mkdir -p build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # yarp | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp.git --depth 1 --branch v${{ env.yarp_version }} | |
| cd yarp && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # icub-main | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-main.git --depth 1 --branch devel | |
| cd icub-main && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DENABLE_icubmod_cartesiancontrollerserver=ON -DENABLE_icubmod_cartesiancontrollerclient=ON -DENABLE_icubmod_gazecontrollerclient=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # cer | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/cer.git --depth 1 --branch devel | |
| cd cer && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # icub-contrib-common | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-contrib-common.git --depth 1 | |
| cd icub-contrib-common && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING=ON .. | |
| - name: Configure [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_TESTING=ON .. | |
| - name: Build | |
| shell: bash | |
| run: | | |
| cd build | |
| # Fix for using YARP idl generators (that link ACE) in Windows | |
| # See https://github.com/robotology/idyntree/issues/569 for more details | |
| export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/bin | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install |