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 conda for main dependencies
        - uses: conda-incubator/setup-miniconda@v2
          with:
            miniforge-variant: Mambaforge
            miniforge-version: latest
        
        # 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
        # ============
        - name: Restore cached conda based dependencies
          if: ${{ env.action-restore-cache == 'true' }}
          uses: actions/cache/restore@v3
          with:
            path: ${{ env.CONDA }}/envs/test
            key: ${{ matrix.os }}-conda-${{ hashFiles('.github/workflows/conda-deps.yml') }}-${{ env.DATE }}
          id: cache-restore-conda-deps
        
        - name: Dependencies (using conda)
          shell: bash -l {0}
          if: steps.cache-restore-conda-deps.outputs.cache-hit != 'true'
          run: |
            mamba env update -f .github/workflows/conda-deps.yml
          
        - name: Cache conda based dependencies
          if: ${{ steps.cache-restore-conda-deps.outputs.cache-hit != 'true' }}
          uses: actions/cache/save@v3
          with:
            path: ${{ env.CONDA }}/envs/test
            key: ${{ matrix.os }}-conda-${{ hashFiles('.github/workflows/conda-deps.yml') }}-${{ env.DATE }}
          id: cache-save-conda-deps
        
        - name: Restore cached source-based dependencies
          if: ${{ env.action-restore-cache == 'true' && steps.cache-restore-conda-deps.outputs.cache-hit == 'true' }}
          uses: actions/cache/restore@v3
          with:
            path: ${{ github.workspace }}/install/deps
            key: ${{ matrix.os }}-${{ matrix.build_type }}-source-${{env.BipedalLocomotionFramework_TAG}}-${{ env.DATE }}
          id: cache-restore-source-deps

        - name: Source-based dependencies
          if: ${{ steps.cache-restore-conda-deps.outputs.cache-hit != 'true' || steps.cache-restore-source-deps.outputs.cache-hit != 'true' }}
          shell: bash -l {0}
          run: |

            # lie-group-controller
            cd ${GITHUB_WORKSPACE}
            git clone --depth 1 --single-branch --branch ${LieGroupController_TAG} https://github.com/ami-iit/lie-group-controllers.git lieCtrl
            cd lieCtrl
            mkdir -p build
            cd build
            cmake -GNinja .. \
                  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps

            cmake --build . --config ${{matrix.build_type}} --target install

            # bipedal-locomotion-framework
            cd ${GITHUB_WORKSPACE}
            git clone --depth 1 --single-branch --branch ${BipedalLocomotionFramework_TAG} https://github.com/ami-iit/bipedal-locomotion-framework blf
            cd blf
            mkdir -p build
            cd build
            cmake -GNinja .. \
                  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps

            cmake --build . --config ${{matrix.build_type}} --target install

        - name: Cache source-based dependencies
          if: ${{ steps.cache-restore-source-deps.outputs.cache-hit != 'true' }}
          uses: actions/cache/save@v3
          with:
            path: ${{ github.workspace }}/install/deps
            key: ${{ matrix.os }}-${{ matrix.build_type }}-source-${{env.BipedalLocomotionFramework_TAG}}-${{ env.DATE }}
          id: cache-save-source-deps
            


        # ===================
        # CMAKE-BASED PROJECT
        # ===================
        # We will just configure and build the project now. Further modifications and tests can be added
        # Configure step
        - name: Configure
          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 \
                  -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 }} .