C++ CI Workflow with dependencies installed via conda #1575
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: C++ CI Workflow | |
| # template derived from https://github.com/robotology/how-to-export-cpp-library/tree/master/.github/workflows | |
| # and https://github.com/robotology/idyntree/blob/master/.github/workflows/ci.yml | |
| on: | |
| push: | |
| pull_request: | |
| schedule: | |
| # run a cron job for a nightly build | |
| # * 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: | |
| vcpkg_robotology_TAG: v0.6.0 | |
| YCM_TAG: v0.14.2 | |
| YARP_TAG: v3.7.2 | |
| iDynTree_TAG: v6.0.0 | |
| wearables_TAG: v1.4.0 | |
| icub_main_TAG: v1.28.1 | |
| osqp_TAG: v0.6.0 | |
| OsqpEigen_TAG: v0.6.2 | |
| matioCpp_TAG: v0.2.0 | |
| robometry_TAG: v1.2.0 | |
| # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by Github Actions to point to our vcpkg | |
| VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg | |
| jobs: | |
| build: | |
| name: '[${{matrix.os}}@${{matrix.build_type}}]' | |
| runs-on: ${{matrix.os}} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-latest, windows-latest, macOS-latest] | |
| fail-fast: false | |
| steps: | |
| # Clone the repository in $GITHUB_WORKSPACE | |
| - uses: actions/checkout@master | |
| # Use conda for Windows dependencies | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| if: contains(matrix.os, 'windows') | |
| with: | |
| mamba-version: "*" | |
| channels: conda-forge,robotology,defaults | |
| channel-priority: true | |
| environment: human-dynamics-estimation | |
| python-version: 3.8 | |
| # Print the environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| # Use bash in order to have same basic commands in all OSs | |
| shell: bash | |
| run: env | |
| # Remove apt repos on Ubuntu 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 | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: Dependencies [macOS] | |
| if: matrix.os == 'macOS-latest' | |
| run: | | |
| brew install ccache eigen ace tinyxml gsl irrlicht libmatio boost | |
| - name: Dependencies [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| run: | | |
| sudo apt update | |
| sudo apt install git build-essential cmake libace-dev coinor-libipopt-dev libboost-system-dev libboost-filesystem-dev \ | |
| libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \ | |
| libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev valgrind libassimp-dev libirrlicht-dev libmatio-dev | |
| - name: Cache Source-based dependencies [Ubuntu/macOS] | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' && (contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macOS')) | |
| id: cache-source-deps | |
| uses: actions/cache@v1 | |
| with: | |
| path: ${{ github.workspace }}/install/deps | |
| # Including ${{ runner.temp }} is a workaround for https://github.com/robotology/whole-body-estimators/issues/60 | |
| key: source-deps-${{runner.os}}-${{runner.temp}}-vcpkg-robotology-${{env.vcpkg_robotology_TAG}}-ycm-${{env.YCM_TAG}}-yarp-${{env.YARP_TAG}}-iDynTree-${{env.iDynTree_TAG}}-wearables-${{env.wearables_TAG}}-icub_main-${{env.icub_main_TAG}}-OsqpEigen-${{env.OsqpEigen_TAG}}-matioCpp-${{env.matioCpp_TAG}}-robometry-${{env.robometry_TAG}} | |
| - name: Dependencies (using conda) [Windows] | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' && contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| # Compilation related dependencies | |
| mamba install cmake compilers make ninja pkg-config | |
| # Actual dependencies | |
| mamba install yarp icub-main wearables idyntree matio-cpp robometry osqp-eigen | |
| - 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: | | |
| # YCM | |
| cd ${GITHUB_WORKSPACE} | |
| 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 | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| cd yarp | |
| git checkout ${YARP_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| # icub-main | |
| cd ${GITHUB_WORKSPACE} | |
| git clone -b ${icub_main_TAG} https://github.com/robotology/icub-main | |
| cd icub-main | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| # iDynTree | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/iDynTree | |
| cd iDynTree | |
| git checkout ${iDynTree_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DIDYNTREE_USES_IRRLICHT:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| # wearables | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/wearables | |
| cd wearables | |
| git checkout ${wearables_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| # 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 .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # OsqpEigen | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/osqp-eigen | |
| cd osqp-eigen | |
| git checkout ${OsqpEigen_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| # matioCpp | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/dic-iit/matio-cpp | |
| cd matio-cpp | |
| git checkout ${matioCpp_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| # robometry | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/robometry | |
| cd robometry | |
| git checkout ${robometry_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{matrix.build_type}} --target install | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| # We will just configure and build the project now. Further modifications and tests can be added | |
| # Configure step | |
| - name: Configure [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 cmake -G"Visual Studio 17 2022" -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \ | |
| -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON \ | |
| -DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Configure [Ubuntu/macOS] | |
| if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \ | |
| -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON \ | |
| -DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| # Build step | |
| - name: Build | |
| shell: bash | |
| run: | | |
| cd build | |
| # Attempt of fix for using YARP idl generators (that link ACE) in Windows | |
| # See https://github.com/robotology/idyntree/issues/569 | |
| export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_INSTALLATION_ROOT}/install/x64-windows/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/debug/bin | |
| cmake --build . --config ${{matrix.build_type}} | |