C++ CI Workflow #1640
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| name: C++ CI Workflow | |
| # template derived from https://github.com/robotology/human-dynamics-estimation/blob/master/.github/workflows/ci.yml | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| 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 $apt_file; done | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| # Additional dependencies useful only on Linux | |
| - name: Dependencies [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash -l {0} | |
| run: | | |
| # Additional dependencies only useful on Linux, both at the conda and the system level, | |
| # see https://conda-forge.org/docs/maintainer/maintainer_faq/#how-do-i-fix-the-libglso1-import-error | |
| micromamba install libgl-devel | |
| sudo apt-get update | |
| sudo apt install libgl1-mesa-dri libglx-mesa0 libegl-mesa0 | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| # We will just configure and build the project now. Further modifications and tests can be added | |
| # Configure step | |
| - name: Configure [Ubuntu, macOS] | |
| if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest' | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -G"Ninja" .. \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \ | |
| -DFRAMEWORK_COMPILE_YarpImplementation=ON \ | |
| -DFRAMEWORK_COMPILE_YarpDevices=ON \ | |
| -DBUILD_TESTING:BOOL=ON \ | |
| -DBUILD_EXAMPLES:BOOL=ON \ | |
| -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX | |
| - name: Configure [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -G"Visual Studio 18 2026" .. \ | |
| -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX/Library \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \ | |
| -DFRAMEWORK_COMPILE_YarpImplementation=ON \ | |
| -DFRAMEWORK_COMPILE_YarpDevices=ON \ | |
| -DBUILD_TESTING:BOOL=ON \ | |
| -DBUILD_EXAMPLES:BOOL=ON \ | |
| -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX/Library | |
| # 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 }} . | |
| - name: Install [Ubuntu, macOS] | |
| if: matrix.os != 'windows-latest' | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{matrix.build_type}} --verbose | |
| cmake-package-check BiomechanicalAnalysisFramework --targets BiomechanicalAnalysis::IK BiomechanicalAnalysis::ID BiomechanicalAnalysis::CommonConversions BiomechanicalAnalysis::Logging | |
| - name: Install [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: cmd /C CALL {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{matrix.build_type}} --verbose | |
| :: Re-enable when we understand why cmake-package-check is not found | |
| :: cmake-package-check BiomechanicalAnalysisFramework --targets BiomechanicalAnalysis::IK BiomechanicalAnalysis::ID BiomechanicalAnalysis::CommonConversions BiomechanicalAnalysis::Logging |