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ci.yml
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name: CI Workflow
on:
push:
branches:
- master
- devel
pull_request:
types: [opened, reopened, synchronize, ready_for_review]
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 * * *'
workflow_dispatch:
jobs:
build:
name: '[${{ matrix.os }}@${{ matrix.build_type }}@BUILD_SHARED_LIBS:${{ matrix.build_shared_libs }}]'
runs-on: ${{ matrix.os }}
strategy:
matrix:
build_type: [Release]
os: [ubuntu-latest, windows-latest]
build_shared_libs: [ON, OFF]
steps:
- name: Checkout the code
uses: actions/checkout@main
- name: Environment Variables
shell: bash
run: env
# 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'
shell: bash
run: |
for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done
# ============
# DEPENDENCIES
# ============
- name: Dependencies [Windows]
if: matrix.os == 'windows-latest'
shell: pwsh
run: |
$response = gh api --paginate -H "Accept: application/vnd.github.v3+json" /repos/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest
$latest_tag = ($response | ConvertFrom-Json).tag_name
echo "Installing robotology-superbuild-dependencies-vcpkg@$latest_tag"
iwr -Uri https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/$latest_tag/vcpkg-robotology.zip -OutFile C:/vcpkg-robotology.zip
7z x C:/vcpkg-robotology.zip -oC:/
"VCPKG_INSTALLATION_ROOT=C:/robotology/vcpkg" >> $env:GITHUB_ENV
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
- name: Dependencies [Ubuntu]
if: matrix.os == 'ubuntu-latest'
shell: bash
run: |
sudo apt update
sudo apt install -y git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev libopencv-dev qtbase5-dev \
qtdeclarative5-dev qtmultimedia5-dev libtinyxml-dev libgsl-dev libpython3-dev swig
- name: Determine YCM and YARP required versions
shell: bash
run: |
grep -m 1 YCM_REQUIRED_VERSION CMakeLists.txt | sed "s/[^0-9.]//g" > YCM_VERSION.txt
grep -m 1 YARP_REQUIRED_VERSION CMakeLists.txt | sed "s/[^0-9.]//g" > YARP_VERSION.txt
cat YARP_VERSION.txt | awk -F '.' '{ print $1 }' > YARP_VERSION_MAJOR.txt
cat YARP_VERSION.txt | awk -F '.' '{ print $2 }' > YARP_VERSION_MINOR.txt
echo "ycm_version=$(cat YCM_VERSION.txt)" >> $GITHUB_ENV
echo "yarp_branch=yarp-$(cat YARP_VERSION_MAJOR.txt).$(cat YARP_VERSION_MINOR.txt)" >> $GITHUB_ENV
- name: Determine icub-firmware-shared required branch
shell: bash
run: |
grep -m 1 icub_firmware_shared_VERSION conf/iCubFindDependencies.cmake | sed "s/[^0-9.]//g" > icub_firmware_shared_VERSION.txt
gh --repo robotology/icub-firmware-shared release list > icub_firmware_shared_RELEASES.txt
if grep -q $(cat icub_firmware_shared_VERSION.txt) icub_firmware_shared_RELEASES.txt; then
echo "icub_firmware_shared_branch=v$(cat icub_firmware_shared_VERSION.txt)" >> $GITHUB_ENV
elif [[ "${{ github.event_name }}" == "schedule" || "${{ github.ref }}" == "refs/heads/master" || "${{ github.base_ref }}" == "master" || "${{ github.head_ref }}" == "master" ]]; then
echo "icub_firmware_shared_branch=master" >> $GITHUB_ENV
else
echo "icub_firmware_shared_branch=devel" >> $GITHUB_ENV
fi
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
- name: Source-based Dependencies [Windows]
if: matrix.os == 'windows-latest'
shell: bash
run: |
# YCM
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }}
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.git --depth 1 --branch ${{ env.yarp_branch }}
cd yarp && mkdir -p build && cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DYARP_COMPILE_GUIS:BOOL=OFF \
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
cmake --build . --config ${{ matrix.build_type }} --target INSTALL
# icub-firmware-shared
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch ${{ env.icub_firmware_shared_branch }}
cd icub-firmware-shared && mkdir -p build && cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${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
- name: Source-based Dependencies [Ubuntu]
if: matrix.os == 'ubuntu-latest'
shell: bash
run: |
# YCM
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }}
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.git --depth 1 --branch ${{ env.yarp_branch }}
cd yarp && mkdir -p build && cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DYARP_COMPILE_GUIS:BOOL=OFF ..
cmake --build . --config ${{ matrix.build_type }} --target install
# icub-firmware-shared
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch ${{ env.icub_firmware_shared_branch }}
cd icub-firmware-shared && mkdir -p build && cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
cmake --build . --config ${{ matrix.build_type }} --target install
# ===================
# CMAKE-BASED PROJECT
# ===================
- name: Configure [Windows]
# Use bash also on Windows (otherwise cd, mkdir, ... do not work)
if: matrix.os == 'windows-latest'
shell: bash
run: |
mkdir -p build
cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
-DBUILD_SHARED_LIBS:BOOL=${{ matrix.build_shared_libs }} \
-DICUB_USE_icub_firmware_shared:BOOL=ON \
-DENABLE_icubmod_skinWrapper:BOOL=ON \
-DENABLE_icubmod_sharedcan:BOOL=ON \
-DENABLE_icubmod_bcbBattery:BOOL=ON \
-DENABLE_icubmod_canmotioncontrol:BOOL=ON \
-DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \
-DENABLE_icubmod_canBusInertialMTB:BOOL=ON \
-DENABLE_icubmod_canBusSkin:BOOL=ON \
-DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON \
-DENABLE_icubmod_embObjFTsensor:BOOL=ON \
-DENABLE_icubmod_embObjIMU:BOOL=ON \
-DENABLE_icubmod_embObjInertials:BOOL=ON \
-DENABLE_icubmod_embObjMais:BOOL=ON \
-DENABLE_icubmod_embObjMotionControl:BOOL=ON \
-DENABLE_icubmod_embObjBattery:BOOL=ON \
-DENABLE_icubmod_embObjSkin:BOOL=ON \
-DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON \
-DENABLE_icubmod_parametricCalibrator:BOOL=ON \
-DENABLE_icubmod_parametricCalibratorEth:BOOL=ON \
-DBUILD_TESTING:BOOL=ON \
-DICUB_SHARED_LIBRARY=OFF \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
- name: Configure [Ubuntu]
if: matrix.os == 'ubuntu-latest'
shell: bash
run: |
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
-DBUILD_SHARED_LIBS:BOOL=${{ matrix.build_shared_libs }} \
-DICUB_USE_icub_firmware_shared:BOOL=ON \
-DENABLE_icubmod_skinWrapper:BOOL=ON \
-DENABLE_icubmod_sharedcan:BOOL=ON \
-DENABLE_icubmod_canmotioncontrol:BOOL=ON \
-DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \
-DENABLE_icubmod_canBusInertialMTB:BOOL=ON \
-DENABLE_icubmod_canBusSkin:BOOL=ON \
-DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON \
-DENABLE_icubmod_embObjFTsensor:BOOL=ON \
-DENABLE_icubmod_embObjIMU:BOOL=ON \
-DENABLE_icubmod_embObjInertials:BOOL=ON \
-DENABLE_icubmod_embObjMais:BOOL=ON \
-DENABLE_icubmod_embObjMotionControl:BOOL=ON \
-DENABLE_icubmod_embObjBattery:BOOL=ON \
-DENABLE_icubmod_embObjSkin:BOOL=ON \
-DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON \
-DENABLE_icubmod_parametricCalibrator:BOOL=ON \
-DENABLE_icubmod_parametricCalibratorEth:BOOL=ON \
-DBUILD_TESTING:BOOL=ON \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
- name: Enable python bindings on Ubuntu
if: matrix.os == 'ubuntu-latest'
shell: bash
run: |
cd build
# Enable ICUB_COMPILE_BINDINGS in Ubuntu
cmake -DICUB_COMPILE_BINDINGS:BOOL=ON -DCREATE_PYTHON:BOOL=ON .
- name: Extend Path
shell: bash
run: |
echo "${{ github.workspace }}/install/bin" >> $GITHUB_PATH
echo "${{ github.workspace }}/install/lib/yarp" >> $GITHUB_PATH
# Fix for using YARP idl generators (that link ACE) in Windows (https://github.com/robotology/idyntree/issues/569)
echo "${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/bin" >> $GITHUB_PATH
- name: Build
shell: bash
run: |
cd build
cmake --build . --config ${{ matrix.build_type }}
- name: Install
shell: bash
run: |
cd build
cmake --build . --config ${{ matrix.build_type }} --target install
- name: Test
shell: bash
run: |
cd build
ctest run_unit_test --output-on-failure -C ${{ matrix.build_type }} .