C++ CI Workflow #1833
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| name: C++ CI Workflow | |
| on: | |
| push: | |
| pull_request: | |
| schedule: | |
| # * is a special character in YAML so you have to quote this string | |
| # Execute a "nightly" build at 2 AM UTC | |
| - cron: '0 2 * * *' | |
| jobs: | |
| build: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-latest, windows-latest, macOS-latest] | |
| steps: | |
| - uses: actions/checkout@master | |
| # Print environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| shell: bash | |
| run: env | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| # Remove apt repos 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 | |
| - name: Dependencies [Windows] | |
| if: matrix.os == 'windows-latest' | |
| run: | | |
| git clone https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports C:/robotology-vcpkg-binary-ports | |
| vcpkg.exe --overlay-ports=C:/robotology-vcpkg-binary-ports install --triplet x64-windows ace libxml2 eigen3 ipopt-binary catch2 | |
| - name: Dependencies [macOS] | |
| if: matrix.os == 'macOS-latest' | |
| run: | | |
| brew install ace boost eigen swig qt5 orocos-kdl catch2 | |
| - name: Dependencies [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get 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 \ | |
| libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev valgrind | |
| - name: Source-based Dependencies [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| # YCM | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/ycm | |
| cd ycm | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # YARP | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| cd yarp | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # Workaround for https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports/issues/3 | |
| export IPOPT_DIR=${VCPKG_INSTALLATION_ROOT}/installed/x64-windows | |
| # iDynTree | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/iDynTree | |
| cd iDynTree | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # icub-main | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-main.git | |
| cd icub-main && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DENABLE_icubmod_cartesiancontrollerserver=ON -DENABLE_icubmod_cartesiancontrollerclient=ON -DENABLE_icubmod_gazecontrollerclient=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # wearables | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/wearables.git | |
| cd wearables | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DXSENS_MVN_USE_SDK:BOOL=OFF \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Source-based Dependencies [Ubuntu/macOS] | |
| if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest' | |
| shell: bash | |
| run: | | |
| # YCM | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/ycm | |
| cd ycm | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # YARP | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| cd yarp | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # iDynTree | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/iDynTree | |
| cd iDynTree | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # icub-main | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-main.git | |
| cd icub-main && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DENABLE_icubmod_cartesiancontrollerserver=ON -DENABLE_icubmod_cartesiancontrollerclient=ON -DENABLE_icubmod_gazecontrollerclient=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # wearables | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/wearables.git | |
| cd wearables | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [Windows] | |
| # Use bash also on Windows (otherwise cd, mkdir, ... do not work) | |
| if: matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -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 \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - 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_ROBOTOLOGY_ROOT}/installed/x64-windows/bin | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install |