CI Workflow #4538
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| name: CI Workflow | |
| on: | |
| push: | |
| 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 * * *' | |
| env: | |
| YCM_TAG: v0.15.1 | |
| YARP_TAG: v3.8.0 | |
| ICUB_TAG: v2.1.1 | |
| jobs: | |
| build-with-conda-dependencies: | |
| name: '[conda:${{ matrix.os }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-20.04, macos-12, windows-2019] | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Print used environment (no conda) [Conda] | |
| shell: bash | |
| run: | | |
| env | |
| - name: Get current week | |
| id: week | |
| run: echo "week=$(date +%Y-%U)" >> "${GITHUB_OUTPUT}" | |
| - uses: mamba-org/setup-micromamba@v1 | |
| with: | |
| environment-file: ci_env.yml | |
| cache-environment-key: environment-${{ steps.week.outputs.week }} | |
| - name: Install files to enable compilation of mex files [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip | |
| unzip msdk_R2020b_mexa64.zip | |
| rm msdk_R2020b_mexa64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV | |
| - name: Install files to enable compilation of mex files [Conda/macOS] | |
| if: contains(matrix.os, 'macos') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip | |
| unzip msdk_R2020a_mexmaci64.zip | |
| rm msdk_R2020a_mexmaci64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV | |
| - name: Install files to enable compilation of mex files [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip | |
| unzip msdk_R2020a_mexw64.zip | |
| rm msdk_R2020a_mexw64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV | |
| - name: Configure VS Toolchain (Windows) | |
| if: contains(matrix.os, 'windows') | |
| uses: ilammy/[email protected] | |
| - name: Setup compilation env variables [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| bash_vc_install=${VCToolsInstallDir//\\//} | |
| compiler_path=${bash_vc_install}bin/Hostx64/x64/cl.exe | |
| echo "CC=${compiler_path}" >> $GITHUB_ENV | |
| echo "CXX=${compiler_path}" >> $GITHUB_ENV | |
| echo "CONDA_CXX_LIBRARIES_INSTALL_PREFIX=${CONDA_PREFIX}\Library" >> $GITHUB_ENV | |
| # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 | |
| # Python tests excluded as a workaround for https://github.com/robotology/idyntree/issues/939 | |
| # InverseKinematics tests are excluded as a workaround for https://github.com/robotology/idyntree/issues/1019 | |
| # ConsistencyTestiKin tests are excluded as a workaround for https://github.com/robotology/idyntree/issues/1029 | |
| echo "IDYNTREE_TEST_TO_SKIP=Visualizer|matlab|Python|pybind|InverseKinematics|ConsistencyTestiKin" >> $GITHUB_ENV | |
| - name: Setup compilation env variables [Conda/Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| echo "CONDA_CXX_LIBRARIES_INSTALL_PREFIX=${CONDA_PREFIX}" >> $GITHUB_ENV | |
| # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 | |
| echo "IDYNTREE_TEST_TO_SKIP=Visualizer|matlab" >> $GITHUB_ENV | |
| # Additional dependencies useful only on Linux | |
| - name: Dependencies [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| # Additional dependencies only useful on Linux | |
| # See https://github.com/robotology/robotology-superbuild/issues/477 | |
| micromamba install xorg-libx11 xorg-libxrandr freeglut mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 | |
| - name: Print used environment [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| micromamba list | |
| env | |
| - name: Configure [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_CXX_LIBRARIES_INSTALL_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_USES_PYTHON_PYBIND11:BOOL=ON .. | |
| - name: Build [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Inspect libraries linked by iDynTreeMEX.mexa64 [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ldd ./lib/iDynTreeMEX.mexa64 | |
| - name: Test [Conda] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} -E "${IDYNTREE_TEST_TO_SKIP}" . | |
| - name: Install [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} | |
| - name: Test standalone installation of MATLAB bindings [Conda] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd bindings | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_CXX_LIBRARIES_INSTALL_PREFIX}/idyntree_bindings_install_test -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} | |
| cmake --install . --config ${{ matrix.build_type }} | |
| build-with-apt-dependencies: | |
| name: '[apt:${{ matrix.docker_image }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: | |
| - ubuntu-latest | |
| docker_image: | |
| - "ubuntu:20.04" | |
| - "ubuntu:22.04" | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Dependencies [apt] | |
| run: | | |
| # See https://stackoverflow.com/questions/44331836/apt-get-install-tzdata-noninteractive, | |
| # only required by Ubuntu 20.04 | |
| export DEBIAN_FRONTEND=noninteractive | |
| apt-get -y update | |
| apt-get -y install \ | |
| git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev swig \ | |
| libxml2-dev liboctave-dev python3-dev python3-numpy valgrind libassimp-dev libirrlicht-dev curl unzip libglfw3-dev | |
| - name: Install files to enable compilation of mex files [apt] | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip | |
| unzip msdk_R2020b_mexa64.zip | |
| rm msdk_R2020b_mexa64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV | |
| # Print environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| shell: bash | |
| run: env | |
| - name: Cache Source-based Dependencies | |
| id: cache-source-deps | |
| uses: actions/cache@v3 | |
| with: | |
| path: ${{ github.workspace }}/install/deps | |
| key: source-deps-${{ matrix.docker_image }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-icub-${{ env.ICUB_TAG }} | |
| - name: Source-based Dependencies [apt] | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' && contains(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: | | |
| # YCM | |
| git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
| cd ycm | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # YARP | |
| git clone -b ${YARP_TAG} https://github.com/robotology/yarp | |
| cd yarp | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # ICUB | |
| git clone -b ${ICUB_TAG} https://github.com/robotology/icub-main | |
| cd icub-main | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [apt] | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON \ | |
| -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DIDYNTREE_USES_ASSIMP:BOOL=ON \ | |
| -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON \ | |
| -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON -DIDYNTREE_USES_OCTAVE:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Build | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test | |
| shell: bash | |
| run: | | |
| cd build | |
| # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 | |
| ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" . | |
| - name: Install [apt] | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Compile Examples [apt] | |
| shell: bash | |
| run: | | |
| cd examples | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH="${GITHUB_WORKSPACE}/install/deps;${GITHUB_WORKSPACE}/install" .. | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Check build if some dependencies are not enabled [apt] | |
| shell: bash | |
| run: | | |
| cd build | |
| for missing_dep in ASSIMP IPOPT; do | |
| echo "Testing ${missing_dep} as missing dependency." | |
| # Deselect missing dependency and build | |
| cmake -DIDYNTREE_USES_${missing_dep}:BOOL=OFF . | |
| cmake --build . --config ${{ matrix.build_type }} | |
| # Enable again dependency | |
| cmake -DIDYNTREE_USES_${missing_dep}:BOOL=ON . | |
| done |