ci.yml

name: C++ 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:
  osqp_TAG: v0.6.3
  vcpkg_robotology_TAG: v0.0.3
  Catch2_TAG: v2.13.9
  # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg  
  VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg

# Test with different operating systems
jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}] [float:${{ matrix.float }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Debug, Release]
        os: [ubuntu-latest, macOS-latest, windows-latest]
        float: [ON, OFF]
      fail-fast: false

    # operating system dependences
    steps:
    - uses: actions/checkout@master

    # Print environment variables to simplify development and debugging
    - name: Environment Variables
      shell: bash
      run: env

    # ============
    # DEPENDENCIES
    # ============

    # Remove apt repos that are known to break from time to time
    # See https://github.com/actions/virtual-environments/issues/323
    - name: Remove broken apt repos [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    - name: Dependencies [Windows]
      if: matrix.os == 'windows-latest'
      run: |
        # To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need
        choco install -y wget unzip
        # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg
        # that has been used to create the pre-compiled archive
        cd C:/
        md C:/robotology
        md C:/robotology/vcpkg
        wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${env:vcpkg_robotology_TAG}/vcpkg-robotology.zip
        unzip vcpkg-robotology.zip -d C:/robotology/vcpkg

        # Install Catch2
        cd C:/robotology/vcpkg
        ./vcpkg.exe install --triplet x64-windows catch2

    - name: Dependencies [macOS]
      if: matrix.os == 'macOS-latest'
      run: |
        brew install eigen

    - name: Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        sudo apt-get update
        sudo apt-get install git build-essential cmake libeigen3-dev valgrind

    - name: Cache Source-based Dependencies
      id: cache-source-deps
      uses: actions/cache@v1
      with:
        path: ${{ github.workspace }}/install/deps
        key: source-deps-${{ runner.os }}-${{ matrix.build_type }}-use-float-${{ matrix.float }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-osqp-${{ env.osqp_TAG }}-catch2-${{ env.Catch2_TAG }}

    - name: Source-based Dependencies [Windows]
      if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-latest'
      shell: bash
      run: |
        # osqp
        cd ${GITHUB_WORKSPACE}
        git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp
        cd osqp
        mkdir -p build
        cd build
        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
                     -DDFLOAT=${{ matrix.float }} \
                     -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..

        cmake --build . --config ${{ matrix.build_type }} --target INSTALL

    - name: Source-based Dependencies [Ubuntu/macOS]
      if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')
      shell: bash
      run: |
        # osqp
        cd ${GITHUB_WORKSPACE}
        git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp
        cd osqp
        mkdir -p build
        cd build
        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
              -DDFLOAT=${{ matrix.float }} ..
        cmake --build . --config ${{ matrix.build_type }} --target install

        # catch 2
        git clone -b ${Catch2_TAG} https://github.com/catchorg/Catch2.git
        cd Catch2
        mkdir -p build
        cd build
        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
               -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
               -DBUILD_TESTING=OFF ..
        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/deps \
              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
              -DBUILD_TESTING:BOOL=ON ..

    - name: Configure [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DBUILD_TESTING:BOOL=ON \
              -DOSQPEIGEN_RUN_Valgrind_tests:BOOL=ON ..

    - name: Configure [macOS]
      if: matrix.os == 'macOS-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DBUILD_TESTING:BOOL=ON ..

    - name: Build
      shell: bash
      run: |
        cd build
        export PATH=$PATH:/d/a/osqp-eigen/osqp-eigen/install/bin:/d/a/osqp-eigen/osqp-eigen/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
        cmake --build . --config ${{ matrix.build_type }}

    - name: Test
      shell: bash
      run: |
        cd build
        export PATH=$PATH:/d/a/osqp-eigen/osqp-eigen/install/bin:/d/a/osqp-eigen/osqp-eigen/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
        ctest --output-on-failure -C ${{ matrix.build_type }} .