CI Workflow #1940
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| 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 |