Tests #20
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| name: Tests | |
| on: | |
| push: | |
| schedule: | |
| - cron: "0 7 * * 0" | |
| env: | |
| ROBOTPKG_URL: "http://robotpkg.openrobots.org/packages/debian" | |
| ROS: "humble" | |
| UBUNTU: "jammy" | |
| jobs: | |
| test: | |
| name: "Test ${{ matrix.pm }} on ${{ matrix.os }}" | |
| runs-on: "${{ matrix.os }}-latest" | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| pm: ["pip", "conda", "nix"] | |
| os: ["ubuntu", "macos", "windows"] | |
| exclude: | |
| - pm: "pip" | |
| os: "windows" | |
| - pm: "nix" | |
| os: "windows" | |
| include: | |
| - pm: "robotpkg" | |
| os: "ubuntu" | |
| - pm: "ros" | |
| os: "ubuntu" | |
| steps: | |
| - uses: actions/checkout@v3 | |
| # pip | |
| - if: matrix.pm == 'pip' | |
| uses: actions/setup-python@v4 # required only because macos-latest still has python 2 by default… | |
| with: | |
| python-version: "3.11" | |
| - if: matrix.pm == 'pip' | |
| run: pip install pin[build] | |
| - if: matrix.pm == 'pip' | |
| run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV | |
| # conda | |
| - if: matrix.pm == 'conda' | |
| uses: conda-incubator/setup-miniconda@v3 | |
| - if: matrix.pm == 'conda' | |
| run: conda install -n test -c conda-forge pinocchio | |
| - if: matrix.pm == 'conda' | |
| run: echo "CMAKE_PREFIX_PATH=$CONDA/envs/test" >> $GITHUB_ENV | |
| # nix | |
| - if: matrix.pm == 'nix' | |
| uses: cachix/install-nix-action@v21 | |
| with: | |
| nix_path: nixpkgs=channel:nixpkgs-unstable | |
| - if: matrix.pm == 'nix' | |
| run: nix-channel --update | |
| - if: matrix.pm == 'nix' | |
| run: > | |
| nix shell 'nixpkgs#python311Packages.pinocchio' -c | |
| nix develop 'nixpkgs#python311Packages.pinocchio' -c | |
| env | grep .=. >> $GITHUB_ENV | |
| # robotpkg | |
| - if: matrix.pm == 'robotpkg' | |
| run: sudo wget "${ROBOTPKG_URL}/robotpkg.gpg" -O /robotpkg.gpg | |
| - if: matrix.pm == 'robotpkg' | |
| run: > | |
| echo "deb [arch=amd64 signed-by=/robotpkg.gpg] ${ROBOTPKG_URL}/pub ${UBUNTU} robotpkg" | |
| | sudo tee /etc/apt/sources.list.d/robotpkg.list | |
| - if: matrix.pm == 'robotpkg' | |
| run: sudo apt-get update && sudo apt-get install -qy robotpkg-py310-pinocchio | |
| - if: matrix.pm == 'robotpkg' | |
| run: echo "CMAKE_PREFIX_PATH=/opt/openrobots" >> $GITHUB_ENV | |
| # ros | |
| - if: matrix.pm == 'ros' | |
| run: sudo wget "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key" -O /ros.key | |
| - if: matrix.pm == 'ros' | |
| run: > | |
| echo "deb [arch=amd64 signed-by=/ros.key] http://packages.ros.org/ros2/ubuntu ${UBUNTU} main" | |
| | sudo tee /etc/apt/sources.list.d/ros.list | |
| - if: matrix.pm == 'ros' | |
| run: sudo apt-get update && sudo apt-get install -qy "ros-${ROS}-pinocchio" | |
| - if: matrix.pm == 'ros' | |
| run: echo "CMAKE_PREFIX_PATH=/opt/ros/${ROS}" >> $GITHUB_ENV | |
| # windows | |
| # thx https://gist.github.com/justinian/81a2e55c89e8301a8a96 & https://stackoverflow.com/a/74547513/1368502 | |
| - if: matrix.os == 'windows' | |
| run: > | |
| cmd /c '"%programfiles%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64 && set' | |
| | Select-String -Pattern "^(.*?)=(.*)$" | |
| | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| - run: cmake -B build -S . | |
| - run: cmake --build build | |
| - run: ./build/main | |
| #test-docker: | |
| #runs-on: "ubuntu-latest" | |
| #container: ${{ matrix.container }} | |
| #strategy: | |
| #matrix: | |
| #container: ["archlinux/archlinux:base-devel"] | |
| #steps: | |
| #- uses: actions/checkout@v3 | |
| #- run: curl https://github.com/Morganamilo/paru/releases/download/v1.11.2/paru-v1.11.2-x86_64.tar.zst -O | |
| #- run: pacman -Syu "paru-*.tar.zst" | |
| #- run: paru -Syu pinocchio | |
| #- run: cmake -B build -S . | |
| #- run: cmake --build build | |
| #- run: ./build/main | |
| #test-aarch64: | |
| #runs-on: "ubuntu-latest" | |
| #container: ${{ matrix.container }} | |
| #strategy: | |
| #matrix: | |
| #container: ["archlinux/archlinux:base-devel"] | |
| #pm: ["pip", "conda", "nix"] | |
| #steps: | |
| #- uses: actions/checkout@v3 | |
| #- run: cmake -B build -S . | |
| #- run: cmake --build build | |
| #- run: ./build/main |