[config] Allow external qpOASES dependency #38
Workflow file for this run
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| name: CI - Linux/OSX/Windows - Conda | |
| on: | |
| workflow_dispatch: | |
| push: | |
| pull_request: | |
| jobs: | |
| build-with-conda-and-test: | |
| name: "[conda:${{ matrix.os }}:py${{ matrix.python_version }}:${{ matrix.qp_solver }}]" | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-22.04, macos-13, macos-14, windows-2022] | |
| python_version: ["3.13"] | |
| build_type: ["Release"] | |
| qp_solver: ["qpOases", "proxQP"] | |
| steps: | |
| - name: Install miniconda [Linux & macOS & Windows] | |
| uses: conda-incubator/setup-miniconda@v3 | |
| with: | |
| activate-environment: sofa | |
| auto-update-conda: true | |
| miniforge-version: latest | |
| python-version: ${{ matrix.python_version }} | |
| channels: conda-forge | |
| conda-remove-defaults: "true" | |
| - name: Checkout source code | |
| uses: actions/checkout@v4 | |
| - name: Install SOFA from nightly packages [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| conda install sofa-devel sofa-python3 sofa-stlib sofa-softrobots -c sofa-framework-nightly | |
| - name: Install compilation environment [Conda / Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| conda install cmake compilers make ninja | |
| conda install mesa-libgl-devel-cos7-x86_64 | |
| - name: Install compilation environment [Conda / macOS] | |
| if: contains(matrix.os, 'macos') | |
| shell: bash -l {0} | |
| run: | | |
| conda install cmake compilers make ninja | |
| - name: Install compilation environment [Conda / Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| conda install cmake vs2022_win-64 | |
| - name: Install dependencies [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| conda install eigen libboost-headers pybind11 cxxopts | |
| - name: Install QP solver dependencies [Conda / proxQP] | |
| if: contains(matrix.qp_solver, 'proxQP') | |
| shell: bash -l {0} | |
| run: | | |
| conda install proxsuite | |
| echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=ON -DSOFTROBOTSINVERSE_ENABLE_QPOASES=OFF" >> "$GITHUB_ENV" | |
| - name: Install QP solver dependencies [Conda / qpOases & not osx-arm64] | |
| if: contains(matrix.qp_solver, 'qpOases') && !contains(matrix.os, 'macos-14') | |
| shell: bash -l {0} | |
| run: | | |
| conda install qpoases | |
| echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=OFF -DSOFTROBOTSINVERSE_ENABLE_QPOASES=ON" >> "$GITHUB_ENV" | |
| # Use embedded qpOases version as its conda package for python>3.10 under osx-arm64 platform is not supported anymore | |
| - name: Install QP solver dependencies [Conda / qpOases & osx-arm64] | |
| if: contains(matrix.qp_solver, 'qpOases') && contains(matrix.os, 'macos-14') | |
| shell: bash -l {0} | |
| run: | | |
| echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=OFF -DSOFTROBOTSINVERSE_ENABLE_QPOASES=ON" >> "$GITHUB_ENV" | |
| - name: Print environment [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| conda info | |
| conda list | |
| env | |
| - name: Configure [Conda / Linux & macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake .. -GNinja $CMAKE_OPTS_QPSOLVER \ | |
| -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DPython_EXECUTABLE:PATH=${CONDA_PREFIX}/bin/python \ | |
| -DSOFTROBOTSINVERSE_BUILD_TESTS:BOOL=ON | |
| - name: Configure [Conda / Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake .. -G"Visual Studio 17 2022" -T "v143" $CMAKE_OPTS_QPSOLVER \ | |
| -DCMAKE_GENERATOR_PLATFORM=x64 \ | |
| -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DPython_EXECUTABLE:PATH=${CONDA_PREFIX}/python.exe \ | |
| -DSOFTROBOTSINVERSE_BUILD_TESTS:BOOL=ON | |
| - name: Build [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} -v -j 2 | |
| - name: Install [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} | |
| - name: Test [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} |