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Clean up CI with Pixi
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jslee02 committed Nov 11, 2024
1 parent ad50867 commit 988490c
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38 changes: 10 additions & 28 deletions .github/workflows/ci_macos.yml
Original file line number Diff line number Diff line change
Expand Up @@ -22,38 +22,13 @@ on:

jobs:
build:
name: ${{ matrix.os }}-${{ matrix.build_type }}
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
matrix:
os: [macos-latest]
build_type: [Release]
enable_simd: [ON]
env:
COMPILER: clang
BUILD_TYPE: ${{ matrix.build_type }}
BUILD_DARTPY: OFF
DART_USE_SYSTEM_IMGUI: OFF
IN_CI: ON
ENABLE_SIMD: ${{ matrix.enable_simd }}
steps:
- name: Checkout
uses: actions/checkout@v4
- name: Install Dependencies
env:
INSTALL_OSG_HEAD: OFF # To avoid building OSG, until 3.7 is released.
run: scripts/install_osx.sh
- name: Build
run: sudo -E scripts/build.sh

build_on_pixi:
name: ${{ matrix.os }}-pixi
name: ${{ matrix.os == 'macos-latest-large' && 'x86_64' || 'arm64' }}-${{ matrix.build_type }}
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
matrix:
os: [macos-latest]
build_type: ["Release", "Debug"]
steps:
- name: Checkout
uses: actions/checkout@v4
Expand All @@ -64,12 +39,19 @@ jobs:
cache: true

- name: Check Lint
run: pixi run check-lint
run: |
DART_VERBOSE=ON \
BUILD_TYPE=${{ matrix.build_type }} \
pixi run check-lint
- name: Test DART and dartpy
run: |
DART_VERBOSE=ON \
BUILD_TYPE=${{ matrix.build_type }} \
pixi run test-all
- name: Install
run: |
DART_VERBOSE=ON \
BUILD_TYPE=${{ matrix.build_type }} \
pixi run install
30 changes: 17 additions & 13 deletions .github/workflows/ci_ubuntu.yml
Original file line number Diff line number Diff line change
Expand Up @@ -21,20 +21,13 @@ on:
workflow_dispatch:

jobs:
build_on_docker:
coverage:
if: github.event_name != 'workflow_dispatch'
name: linux-docker-${{ matrix.os }}-${{ matrix.build_type }}
name: coverage
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
# Supported LTS versions
os: [ubuntu-jammy, ubuntu-noble, ubuntu-oracular]
build_type: [Release]
codecov: [OFF]
check_format: [OFF]
build_dartpy: [ON]
enable_simd: [ON]
include:
# For code coverage report to Codecov
- os: ubuntu-jammy
Expand Down Expand Up @@ -79,9 +72,13 @@ jobs:
$DART_DEV_IMAGE:$DOCKER_TAG \
/bin/sh -c "cd $GITHUB_WORKSPACE && ./scripts/build.sh"
build_on_pixi:
name: ubuntu-pixi
build:
name: ${{ matrix.build_type }}
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
build_type: ["Release", "Debug"]
steps:
- name: Checkout
uses: actions/checkout@v4
Expand All @@ -97,12 +94,19 @@ jobs:
version: 1.0

- name: Check Lint
run: pixi run check-lint
run: |
DART_VERBOSE=ON \
BUILD_TYPE=${{ matrix.build_type }} \
pixi run check-lint
- name: Test DART and dartpy
run: |
DART_VERBOSE=ON \
BUILD_TYPE=${{ matrix.build_type }} \
pixi run test-all
- name: Install
run: |
DART_VERBOSE=ON \
BUILD_TYPE=${{ matrix.build_type }} \
pixi run install
83 changes: 10 additions & 73 deletions .github/workflows/ci_windows.yml
Original file line number Diff line number Diff line change
Expand Up @@ -22,80 +22,12 @@ on:

jobs:
build:
name: win-${{ matrix.build_type }}
name: ${{ matrix.build_type }}
runs-on: windows-latest
strategy:
fail-fast: false
matrix:
toolset: [""]
build_type: [Release]
build_shared_libs: [OFF] # TODO(JS): Add ON once shared lib build is resolved

steps:
- name: Checkout
uses: actions/checkout@v4

- uses: johnwason/vcpkg-action@v6
with:
# TODO: Add ode and coin-or-ipopt
pkgs: >
assimp
eigen3
fcl
fmt
spdlog
bullet3
freeglut
glfw3
imgui[opengl2-binding]
nlopt
opengl
osg
pagmo2
tinyxml2
tracy
urdfdom
triplet: x64-windows
revision: "2024.06.15"
github-binarycache: true
token: ${{ github.token }}

- name: Install Python dependencies
run: |
python -m pip install --upgrade pip
pip install -U pytest
- name: Build
shell: cmd
run: |
cmake ^
-S . ^
-B build ^
-G "Visual Studio 17 2022" ^
-A x64 ^
-Wno-dev ${{ matrix.toolset }} ^
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
-DCMAKE_TOOLCHAIN_FILE="${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake" ^
-DDART_MSVC_DEFAULT_OPTIONS=ON ^
-DDART_VERBOSE=ON ^
-DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^
-DDART_USE_SYSTEM_IMGUI=ON ^
|| exit /b
cmake ^
--build build ^
--config ${{ matrix.build_type }} ^
--target ALL_BUILD ^
--parallel ^
|| exit /b
ctest ^
--test-dir build ^
--output-on-failure ^
--build-config ${{ matrix.build_type }} ^
|| exit /b
build_on_pixi:
name: win-pixi
runs-on: windows-latest
build_type: ["Release"] # TODO: Add Debug
steps:
- name: Checkout
uses: actions/checkout@v4
Expand All @@ -106,12 +38,17 @@ jobs:
cache: true

- name: Check Lint
run: pixi run check-lint
run: |
pixi run check-lint
- name: Test DART and dartpy
run: |
pixi run test # TODO: Change to test-all
$env:DART_VERBOSE = "ON"; `
$env:BUILD_TYPE = "${{ matrix.build_type }}"; `
pixi run test-all
- name: Install
run: |
$env:DART_VERBOSE = "ON"; `
$env:BUILD_TYPE = "${{ matrix.build_type }}"; `
pixi run install
24 changes: 0 additions & 24 deletions Brewfile

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