[constraint] makes BarycentricCenterEffector inherit from PositionEff… #133
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| name: CI | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| is_nightly: | |
| description: 'Is this a nightly build?' | |
| required: false | |
| default: false | |
| type: boolean | |
| pull_request: | |
| push: | |
| jobs: | |
| build-and-test: | |
| name: Run on ${{ matrix.os }} with SOFA ${{ matrix.sofa_branch }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-22.04, macos-13, windows-2022] | |
| sofa_branch: [master] | |
| steps: | |
| - name: Setup SOFA and environment | |
| id: sofa | |
| uses: sofa-framework/sofa-setup-action@v5 | |
| with: | |
| sofa_root: ${{ github.workspace }}/sofa | |
| sofa_version: ${{ matrix.sofa_branch }} | |
| sofa_scope: 'standard' | |
| sofa_with_sofapython3: 'true' | |
| - name: Install SoftRobots | |
| shell: bash | |
| run: | | |
| SoftRobots_ROOT="$GITHUB_WORKSPACE/SoftRobots" | |
| mkdir -p "${{ runner.temp }}/sp3_tmp/zip" "${{ runner.temp }}/sp3_tmp/binaries" "$SoftRobots_ROOT" | |
| url="https://github.com/SofaDefrost/SoftRobots/releases/download" | |
| url="${url}/release-${{ matrix.sofa_branch }}/SoftRobots_${{ matrix.sofa_branch }}_for-SOFA-${{ matrix.sofa_branch }}_${{ runner.os }}.zip" | |
| echo "Getting SoftRobots from $url" | |
| curl --output "${{ runner.temp }}/sp3_tmp/SoftRobots.zip" -L $url | |
| unzip -qq "${{ runner.temp }}/sp3_tmp/SoftRobots.zip" -d "${{ runner.temp }}/sp3_tmp/binaries" | |
| mv "${{ runner.temp }}"/sp3_tmp/binaries/SoftRobots_*/* "$SoftRobots_ROOT" | |
| echo "SoftRobots_ROOT=$SoftRobots_ROOT" | tee -a $GITHUB_ENV | |
| echo "SoftRobots_DIR=$SoftRobots_ROOT/lib/cmake/SoftRobots" | tee -a $GITHUB_ENV | |
| - name: Checkout source code | |
| uses: actions/checkout@v2 | |
| with: | |
| path: ${{ env.WORKSPACE_SRC_PATH }} | |
| - name: Build and install | |
| shell: bash | |
| run: | | |
| cmake_options="-GNinja \ | |
| -DCMAKE_BUILD_TYPE=Release \ | |
| -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \ | |
| -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake" \ | |
| " | |
| if [ -e "$(command -v ccache)" ]; then | |
| cmake_options="$cmake_options -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache" | |
| fi | |
| cmake_options="$(echo $cmake_options)" # prettify | |
| if [[ "$RUNNER_OS" == "Windows" ]]; then | |
| cmd //c "${{ steps.sofa.outputs.vs_vsdevcmd }} \ | |
| && cd /d $WORKSPACE_BUILD_PATH \ | |
| && cmake $cmake_options ../src \ | |
| && ninja install" | |
| else | |
| cd "$WORKSPACE_BUILD_PATH" | |
| ccache -z | |
| cmake $cmake_options ../src | |
| ninja install | |
| echo ${CCACHE_BASEDIR} | |
| ccache -s | |
| fi | |
| #- name: Postinstall fixup | |
| # shell: bash | |
| # run: | | |
| # chmod a+x $WORKSPACE_SRC_PATH/tools/postinstall_fixup_*.sh | |
| # if [[ "$RUNNER_OS" == "macOS" ]]; then | |
| # $WORKSPACE_SRC_PATH/tools/postinstall_fixup_macOS.sh "$WORKSPACE_INSTALL_PATH" | |
| # fi | |
| - name: Sanitize artifact name | |
| id: sanitize | |
| # This step removes special characters from the artifact name to ensure compatibility with upload-artifact | |
| # Characters removed: " : < > | * ? \r \n \ / | |
| # Spaces are replaced with underscores | |
| # This sanitization prevents errors in artifact creation and retrieval | |
| shell: pwsh | |
| run: | | |
| $originalName = "SoftRobots.Inverse_${{ steps.sofa.outputs.run_branch }}_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${{ runner.os }}" | |
| $artifact_name = $originalName -replace '[":;<>|*?\r\n\\/]', '' -replace ' ', '_' | |
| echo "artifact_name=$artifact_name" >> $env:GITHUB_OUTPUT | |
| - name: Create artifact | |
| uses: actions/[email protected] | |
| with: | |
| name: ${{ steps.sanitize.outputs.artifact_name }} | |
| path: ${{ env.WORKSPACE_INSTALL_PATH }} | |
| - name: Install artifact | |
| uses: actions/[email protected] | |
| with: | |
| name: ${{ steps.sanitize.outputs.artifact_name }} | |
| path: ${{ env.WORKSPACE_ARTIFACT_PATH }} | |
| - name: Set env vars for tests | |
| shell: bash | |
| run: | | |
| # Set env vars for tests | |
| if [[ "$RUNNER_OS" == "Windows" ]]; then | |
| echo "$(cd $WORKSPACE_ARTIFACT_PATH/lib && pwd -W)" >> $GITHUB_PATH | |
| echo "$(cd $WORKSPACE_ARTIFACT_PATH/bin && pwd -W)" >> $GITHUB_PATH | |
| echo "$(cd $SoftRobots_ROOT/bin && pwd -W)" >> $GITHUB_PATH | |
| elif [[ "$RUNNER_OS" == "macOS" ]]; then | |
| echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV | |
| fi | |
| echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV | |
| # Add execution right on the tests | |
| chmod +x $WORKSPACE_BUILD_PATH/bin/*_test${{ steps.sofa.outputs.exe }} | |
| - name: Check environment for tests | |
| shell: bash | |
| run: | | |
| echo '------ ls -la "$WORKSPACE_SRC_PATH" ------' | |
| ls -la "$WORKSPACE_SRC_PATH" | |
| echo '------ ls -la "$WORKSPACE_BUILD_PATH" ------' | |
| ls -la "$WORKSPACE_BUILD_PATH" | |
| echo '------ ls -la "$WORKSPACE_BUILD_PATH/bin" ------' | |
| ls -la "$WORKSPACE_BUILD_PATH"/bin | |
| echo '------ ls -la "$WORKSPACE_INSTALL_PATH" ------' | |
| ls -la "$WORKSPACE_INSTALL_PATH" | |
| echo '------ ls -la "$WORKSPACE_ARTIFACT_PATH" ------' | |
| ls -la "$WORKSPACE_ARTIFACT_PATH" | |
| echo '----------------------' | |
| echo "SOFA_ROOT = $SOFA_ROOT"= | |
| echo '----------------------' | |
| python -c "import sys; print('sys.version = ' + str(sys.version)); print('sys.path = ' + str(sys.path))" | |
| - name: Run tests | |
| if: always() | |
| shell: bash | |
| run: | | |
| cd $WORKSPACE_BUILD_PATH | |
| ./bin/SoftRobots.Inverse_test${{ steps.sofa.outputs.exe }} | |
| deploy: | |
| name: Deploy artifacts | |
| if: always() && startsWith(github.repository, 'SofaDefrost') && (startsWith(github.ref, 'refs/heads/') || startsWith(github.ref, 'refs/tags/')) # we are not on a fork and on a branch or a tag (not a PR) | |
| needs: [build-and-test] | |
| runs-on: ubuntu-latest | |
| continue-on-error: true | |
| steps: | |
| - name: Get artifacts | |
| uses: actions/[email protected] | |
| with: | |
| path: artifacts | |
| - name: Zip artifacts and set env vars | |
| shell: bash | |
| run: | | |
| cd $GITHUB_WORKSPACE/artifacts | |
| for artifact in *; do | |
| zip $artifact.zip -r $artifact/* | |
| md5sum $artifact.zip > $artifact.zip.md5 | |
| done | |
| PROJECT_NAME="${GITHUB_REPOSITORY#*/}" | |
| echo "PROJECT_NAME=$PROJECT_NAME" | tee -a $GITHUB_ENV | |
| RELEASE_NAME="${{ github.ref_name }}" | |
| RELEASE_TAGNAME="release-${{ github.ref_name }}" | |
| if [[ "${{ github.event.inputs.is_nightly }}" == "true" ]]; then | |
| RELEASE_NAME="$RELEASE_NAME-nightly" | |
| RELEASE_TAGNAME="$RELEASE_TAGNAME-nightly" | |
| fi | |
| RELEASE_DATE="$(date +'%Y-%m-%d (at %T)')" | |
| echo "RELEASE_NAME=$RELEASE_NAME" | tee -a $GITHUB_ENV | |
| echo "RELEASE_TAGNAME=$RELEASE_TAGNAME" | tee -a $GITHUB_ENV | |
| echo "RELEASE_DATE=$RELEASE_DATE" | tee -a $GITHUB_ENV | |
| - name: Delete old release | |
| uses: dev-drprasad/[email protected] | |
| with: | |
| tag_name: ${{ env.RELEASE_TAGNAME }} | |
| delete_release: true | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Create new release | |
| if: success() || failure() | |
| uses: softprops/action-gh-release@v1 | |
| with: | |
| name: ${{ env.RELEASE_NAME }} | |
| tag_name: ${{ env.RELEASE_TAGNAME }} | |
| fail_on_unmatched_files: false | |
| target_commitish: ${{ github.sha }} | |
| body: | | |
| Last updated on ${{ env.RELEASE_DATE }} | |
| files: | | |
| artifacts/${{ env.PROJECT_NAME }}_*_Linux.zip | |
| artifacts/${{ env.PROJECT_NAME }}_*_Windows.zip | |
| artifacts/${{ env.PROJECT_NAME }}_*_macOS.zip |