License the repo under the BSD-3-Clause license #1591
Workflow file for this run
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| 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}} | |