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ci.yml
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name: Continuous Integration
on:
push:
branches:
- 'master'
- 'feat/**'
- 'fix/**'
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 * * *'
workflow_dispatch:
jobs:
build:
name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
runs-on: ${{ matrix.os }}
strategy:
matrix:
build_type: [Release]
os: [windows-latest, ubuntu-latest]
steps:
- uses: actions/checkout@main
- name: Set up environment variables [Windows]
if: matrix.os == 'windows-latest'
shell: bash
run: |
# the following fix the problem described in https://github.community/t5/GitHub-Actions/Windows-tests-worked-yesterday-broken-today/m-p/43839#M5530
echo "C:\Program Files\Git\bin" >> ${GITHUB_PATH}
echo "VCPKG_ROBOTOLOGY_ROOT=C:/robotology/vcpkg" >> ${GITHUB_ENV}
- name: Display 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'
run: |
for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done
# ============
# DEPENDENCIES
# ============
- name: Dependencies [Windows]
if: matrix.os == 'windows-latest'
shell: bash
run: |
choco install -y curl wget unzip
latest_tag=$(curl --silent https://api.github.com/repos/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest | grep '"tag_name"' | sed -E 's/.*"([^"]+)".*/\1/')
echo "Installing robotology-superbuild-dependencies-vcpkg@${latest_tag}"
cd C:/
wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${latest_tag}/vcpkg-robotology.zip
unzip vcpkg-robotology.zip -d C:/
rm vcpkg-robotology.zip
- name: Dependencies [Ubuntu]
if: matrix.os == 'ubuntu-latest'
run: |
sudo apt update
sudo apt install git build-essential pkg-config zip unzip zlib1g-dev cmake libace-dev coinor-libipopt-dev libeigen3-dev \
qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libtinyxml-dev libgsl-dev wget curl autoconf \
autogen automake libtool mlocate libopencv-dev
- name: Source-based Dependencies [Windows]
if: matrix.os == 'windows-latest'
shell: bash
run: |
# ycm
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/ycm.git --depth 1 --branch master
cd ycm && mkdir -p build && cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
cmake --build . --config ${{ matrix.build_type }} --target INSTALL
# robot-testing-framework
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/robot-testing-framework.git --depth 1 --branch devel
cd robot-testing-framework && mkdir -p build && cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DENABLE_LUA_PLUGIN:BOOL=OFF -DENABLE_WEB_LISTENER:BOOL=ON ..
cmake --build . --config ${{ matrix.build_type }} --target INSTALL
# yarp
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/yarp.git --depth 1 --branch master
cd yarp && mkdir -p build && cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCREATE_LIB_MATH:BOOL=ON -DCREATE_SHARED_LIBRARY:BOOL=ON \
-DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DYARP_COMPILE_RobotTestingFramework_ADDONS:BOOL=ON ..
cmake --build . --config ${{ matrix.build_type }} --target INSTALL
# icub-main
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/icub-main.git --depth 1 --branch devel
cd icub-main && mkdir -p build && cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.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
- name: Source-based Dependencies [Ubuntu]
if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
shell: bash
run: |
# ycm
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/ycm.git --depth 1 --branch master
cd ycm && mkdir -p build && cd build
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
cmake --build . --config ${{ matrix.build_type }} --target install
# robot-testing-framework
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/robot-testing-framework.git --depth 1 --branch devel
cd robot-testing-framework && mkdir -p build && cd build
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DENABLE_LUA_PLUGIN:BOOL=OFF ENABLE_WEB_LISTENER:BOOL=ON ..
cmake --build . --config ${{ matrix.build_type }} --target install
# yarp
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/yarp.git --depth 1 --branch master
cd yarp && mkdir -p build && cd build
# Workaround for https://github.com/robotology/robotology-superbuild/issues/1091
cmake -DYARP_DISABLE_MACOS_BUNDLES:BOOL=ON -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DYARP_COMPILE_RobotTestingFramework_ADDONS:BOOL=ON ..
cmake --build . --config ${{ matrix.build_type }} --target install
# icub-main
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/icub-main.git --depth 1 --branch devel
cd icub-main && mkdir -p build && cd build
cmake -DCMAKE_PREFIX_PATH=${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 ${{ matrix.build_type }} --target install
env:
# This is necessary only on macOS/homebrew, but on Linux it should be ignored
Qt5_DIR: /usr/local/opt/qt5/lib/cmake/Qt5
# ===================
# CMAKE-BASED PROJECT
# ===================
- name: Configure [Windows]
if: matrix.os == 'windows-latest'
shell: bash
run: |
mkdir -p build
cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
- name: Configure [Ubuntu]
if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
shell: bash
run: |
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
env:
# This is necessary only on macOS/homebrew, but on Linux it should be ignored
Qt5_DIR: /usr/local/opt/qt5/lib/cmake/Qt5
- name: Build
shell: bash
run: |
cd build
# Fix for using YARP idl generators (that link ACE) in Windows
# See https://github.com/robotology/idyntree/issues/569 for more details
export PATH=$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