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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| name: CI - Check-changelog | ||
| on: | ||
| pull_request: | ||
| types: [assigned, opened, synchronize, reopened, labeled, unlabeled] | ||
| branches: | ||
| - devel | ||
| jobs: | ||
| check-changelog: | ||
| name: Check changelog action | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: tarides/changelog-check-action@v2 | ||
| with: | ||
| changelog: CHANGELOG.md |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| name: pinocchio | ||
| channels: | ||
| - conda-forge | ||
| dependencies: | ||
| - eigen=3.4.0 | ||
| - hpp-fcl | ||
| - numpy | ||
| - boost | ||
| - eigenpy | ||
| - urdfdom | ||
| - python | ||
| - cmake | ||
| - ccache | ||
| - pkg-config | ||
| - ninja | ||
| - llvm-openmp | ||
| - cxx-compiler |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,70 +1,117 @@ | ||
| name: CI - OSX/Linux via Conda | ||
|
|
||
| on: [push,pull_request] | ||
| on: | ||
| push: | ||
| paths-ignore: | ||
| - 'doc/**' | ||
| - '.gitlab-ci.yml' | ||
| - '.gitignore' | ||
| - '*.md' | ||
| - 'CITATION.*' | ||
| - 'COPYING.LESSER' | ||
| - 'colcon.pkg' | ||
| - '.pre-commit-config.yaml' | ||
| pull_request: | ||
| paths-ignore: | ||
| - 'doc/**' | ||
| - '.gitlab-ci.yml' | ||
| - '.gitignore' | ||
| - '*.md' | ||
| - 'CITATION.*' | ||
| - 'COPYING.LESSER' | ||
| - 'colcon.pkg' | ||
| - '.pre-commit-config.yaml' | ||
| concurrency: | ||
| group: ${{ github.workflow }}-${{ github.ref }} | ||
| cancel-in-progress: true | ||
|
|
||
| jobs: | ||
| pinocchio-conda: | ||
| name: Pinocchio on ${{ matrix.os }} in ${{ matrix.build_type }} mode with Conda | ||
| name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda | ||
| runs-on: ${{ matrix.os }} | ||
| env: | ||
| CCACHE_DIR: ${{ matrix.CCACHE_DIR }} | ||
| CCACHE_BASEDIR: "${GITHUB_WORKSPACE}" | ||
| CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache" | ||
| CCACHE_COMPRESS: true | ||
| CCACHE_COMPRESSLEVEL: 5 | ||
| BUILD_ADVANCED_TESTING: ${{ matrix.BUILD_ADVANCED_TESTING }} | ||
|
|
||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| os: ["ubuntu-latest", "macos-latest"] | ||
| build_type: [Release, Debug] | ||
| python-version: ["3.8", "3.12"] | ||
|
|
||
| include: | ||
| - os: ubuntu-latest | ||
| CCACHE_DIR: /home/runner/.ccache | ||
| BUILD_ADVANCED_TESTING: OFF | ||
| - os: macos-latest | ||
| CCACHE_DIR: /Users/runner/.ccache | ||
| BUILD_ADVANCED_TESTING: ON | ||
|
|
||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| with: | ||
| submodules: recursive | ||
|
|
||
| - uses: actions/cache@v3 | ||
| - uses: actions/cache@v4 | ||
| with: | ||
| path: ${{ env.CCACHE_DIR }} | ||
| key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }} | ||
| path: .ccache | ||
| key: ccache-macos-linux-conda-${{ 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@v2 | ||
| - uses: conda-incubator/setup-miniconda@v3 | ||
| with: | ||
| activate-environment: pinocchio | ||
| auto-update-conda: true | ||
| environment-file: .github/workflows/conda/conda-env.yml | ||
| python-version: 3.8 | ||
| environment-file: .github/workflows/conda/environment_macos_linux.yml | ||
| python-version: ${{ matrix.python-version }} | ||
| auto-activate-base: false | ||
|
|
||
| - name: Install cmake and update conda | ||
| shell: bash -l {0} | ||
| run: | | ||
| conda activate pinocchio | ||
| conda install cmake ccache llvm-openmp compilers=1.4.2 -c conda-forge | ||
| conda list | ||
|
|
||
| - name: Build Pinocchio | ||
| shell: bash -l {0} | ||
| shell: bash -el {0} | ||
| run: | | ||
| conda activate pinocchio | ||
| conda list | ||
| echo $CONDA_PREFIX | ||
| mkdir build | ||
| cd build | ||
| cmake .. -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX | ||
| make | ||
| make build_tests | ||
| CTEST_OUTPUT_ON_FAILURE=1 make test | ||
| make install | ||
| cmake .. \ | ||
| -G "Ninja" \ | ||
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | ||
| -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ | ||
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | ||
| -DBUILD_WITH_COLLISION_SUPPORT=ON \ | ||
| -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \ | ||
| -DBUILD_WITH_CASADI_SUPPORT=OFF \ | ||
| -DPYTHON_EXECUTABLE=$(which python3) \ | ||
| -DBUILD_WITH_OPENMP_SUPPORT=ON \ | ||
| -DINSTALL_DOCUMENTATION=ON \ | ||
| -DGENERATE_PYTHON_STUBS=ON \ | ||
| -DOpenMP_ROOT=$CONDA_PREFIX | ||
| cmake --build . -j2 | ||
| ctest --output-on-failure | ||
| cmake --install . | ||
| - name: Uninstall Pinocchio | ||
| shell: bash -l {0} | ||
| shell: bash -el {0} | ||
| run: | | ||
| cd build | ||
| make uninstall | ||
| cmake --build . --target uninstall | ||
| check: | ||
| if: always() | ||
| name: check-macos-linux-conda | ||
|
|
||
| needs: | ||
| - pinocchio-conda | ||
|
|
||
| runs-on: Ubuntu-latest | ||
|
|
||
| steps: | ||
| - name: Decide whether the needed jobs succeeded or failed | ||
| uses: re-actors/alls-green@release/v1 | ||
| with: | ||
| jobs: ${{ toJSON(needs) }} |
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