ci.yml

name: C++ CI Workflow

# template derived from https://github.com/robotology/human-dynamics-estimation/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:
    BipedalLocomotionFramework_TAG: v0.16.1
    LieGroupController_TAG: v0.2.0
    action-restore-cache: 'true'
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:
        - uses: actions/checkout@v3

        - name: Get current day
          shell: bash -l {0}
          run: |
            echo "DATE=$(date +'%Y-%m-%d')" >> $GITHUB_ENV

         # Use mamba for dependencies
        - uses: mamba-org/setup-micromamba@v1
          with:
            environment-file: ci_env.yml
            channel-priority: true

        - name: Set QT_HOST_PATH_env var [macOS]
          if: matrix.os == 'macOS-latest'
          shell: bash -l {0}
          run: |
            echo "QT_HOST_PATH=${CONDA_PREFIX}" >> $GITHUB_ENV
        
        # 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
        # ============

        # Additional dependencies useful only on Linux
        - name: Dependencies [Ubuntu]
          if: matrix.os == 'ubuntu-latest'
          shell: bash -l {0}
          run: |
            # Additional dependencies only useful on Linux
            # See https://github.com/robotology/robotology-superbuild/issues/477
            micromamba install expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64


        # ===================
        # CMAKE-BASED PROJECT
        # ===================
        # We will just configure and build the project now. Further modifications and tests can be added
        # Configure step
        - name: Configure [Ubuntu, macOS]
          if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
          shell: bash -l {0}
          run: |
            mkdir -p build
            cd build
            cmake -G"Ninja" .. \
                  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
                  -DFRAMEWORK_COMPILE_YarpImplementation=ON \
                  -DBUILD_TESTING:BOOL=ON \
                  -DBUILD_EXAMPLES:BOOL=ON \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install

        - name: Configure [Windows]
          if: matrix.os == 'windows-latest'
          shell: bash -l {0}
          run: |
            mkdir -p build
            cd build
            cmake -G"Visual Studio 17 2022" .. \
                  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
                  -DFRAMEWORK_COMPILE_YarpImplementation=ON \
                  -DBUILD_TESTING:BOOL=ON \
                  -DBUILD_EXAMPLES:BOOL=ON \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install
                    
        # Build step          
        - name: Build
          shell: bash -l {0}
          run: |
            cd build
            cmake --build . --config ${{matrix.build_type}} --verbose
            
        # Test step
        - name: Test
          shell: bash -l {0}
          run: |
            cd build
            export PATH=$PATH:${GITHUB_WORKSPACE}/build/install/bin:${GITHUB_WORKSPACE}/install/deps/bin
            ctest --output-on-failure -C ${{ matrix.build_type }} .