ubuntu.yml

name: CI - Ubuntu

on:
  push:
    branches:
      - main
    paths-ignore:
      - 'doc/**'
      - 'scripts/**'
      - '.gitlab-ci.yml'
      - '.gitignore'
      - '**.md'
      - 'CITATION.cff'
      - 'CITATIONS.bib'
  pull_request:
    paths-ignore:
      - 'doc/'
      - 'scripts/'
      - '.gitlab-ci.yml'
      - '.gitignore'
      - '**.md'
      - 'CITATION.cff'
      - 'CITATIONS.bib'
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  ubuntu:
    runs-on: ubuntu-latest
    container: ${{ matrix.container }}
    strategy:
      fail-fast: false
      matrix:
        container: ['ubuntu:22.04', 'ubuntu:24.04']
        include:
          - ubuntu_22_compatibility: FALSE
          - container: 'ubuntu:22.04'
            ubuntu_22_compatibility: TRUE

    env:
      CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
      CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
      CCACHE_COMPRESS: true
      CCACHE_COMPRESSLEVEL: 6

    steps:
      - name: Setup Container
        run: |
          apt-get -qq update
          DEBIAN_FRONTEND="noninteractive" apt-get -qq install -y lsb-release gnupg2 cmake git python3

      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
          submodules: recursive

      - name: Setup ccache
        uses: actions/cache@v5
        with:
          path: .ccache
          key: ccache-ubuntu-${{ matrix.container }}-${{ github.sha }}
          restore-keys: ccache-ubuntu-${{ matrix.container }}-

      - name: Register robotpkg
        run: |
          sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list "
          apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key

      - name: Set and install dependencies [Ubuntu 22.04]
        if: contains(matrix.container, '22.04')
        run: |
          export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
          export APT_DEPENDENCIES="doxygen \
                                   ninja-build \
                                   ccache \
                                   libomp-dev \
                                   libomp5 \
                                   libboost-all-dev \
                                   libeigen3-dev \
                                   libfmt-dev \
                                   libmimalloc-dev \
                                   python3-numpy \
                                   python3-pytest \
                                   python3-matplotlib \
                                   robotpkg-example-robot-data \
                                   robotpkg-py${PYTHON3_VERSION}-example-robot-data \
                                   robotpkg-py${PYTHON3_VERSION}-eigenpy \
                                   robotpkg-py${PYTHON3_VERSION}-pinocchio"
          echo $APT_DEPENDENCIES

          apt-get update -qq
          DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES}

      - name: Set and install dependencies [Ubuntu 24.04]
        if: contains(matrix.container, '24.04')
        run: |
          export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
          export APT_DEPENDENCIES="doxygen \
                                   ninja-build \
                                   ccache \
                                   libomp-dev \
                                   libomp5 \
                                   libboost-all-dev \
                                   libeigen3-dev \
                                   libfmt-dev \
                                   libmimalloc-dev \
                                   catch2 \
                                   python3-numpy \
                                   python3-pytest \
                                   python3-matplotlib \
                                   robotpkg-example-robot-data \
                                   robotpkg-py${PYTHON3_VERSION}-example-robot-data \
                                   robotpkg-py${PYTHON3_VERSION}-eigenpy \
                                   robotpkg-py${PYTHON3_VERSION}-pinocchio"
          echo $APT_DEPENDENCIES

          apt-get update -qq
          DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES}

      - name: Clear ccache statistics
        run: |
          ccache -z

      - name: Build and test
        run: |
          export PATH=$PATH:/opt/openrobots/bin
          export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
          export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages
          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
          export CMAKE_PREFIX_PATH=/opt/openrobots/lib

          mkdir build
          cd build
          cmake .. \
            -GNinja \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DCMAKE_BUILD_TYPE=Debug \
            -DBUILD_WITH_PINOCCHIO_SUPPORT=ON \
            -DBUILD_CROCODDYL_COMPAT=OFF \
            -DBUILD_WITH_OPENMP_SUPPORT=ON \
            -DBUILD_BENCHMARKS=OFF \
            -DBUILD_EXAMPLES=ON \
            -DGENERATE_PYTHON_STUBS=ON \
            -DALIGATOR_TRACY_ENABLE=OFF \
            -DBUILD_WITH_UBUNTU_22_COMPATIBILITY=${{ matrix.ubuntu_22_compatibility }}
          ninja
          ctest --output-on-failure

      - name: Display ccache statistics
        run: |
          ccache -sv

  check:
    name: check-ubuntu

    needs:
    - ubuntu

    runs-on: ubuntu-latest

    steps:
    - name: Decide whether the needed jobs succeeded or failed
      uses: re-actors/alls-green@release/v1
      with:
        jobs: ${{ toJSON(needs) }}