build_dependencies.yml

name: Reusable Build Dependencies
defaults:
  run:
    shell: bash -ieo pipefail {0}
on:
  workflow_call:
    inputs:
      bpb:
        description: build bpb
        type: boolean
        default: true
        required: false
      qpSWIFT:
        description: build qpSWIFT
        type: boolean
        default: true
        required: false
jobs:
  build_and_cache_bpb:
    runs-on: ubuntu-20.04
    steps:
      - name: load bpb
        id: load-bpb
        uses: actions/cache@v3
        with:
          path: ~/bpb
          key: bpb
      - if: ${{ steps.load-bpb.outputs.cache-hit != 'true' }}
        name: install pybullet
        run: |
          sudo pip3 install numpy
          mkdir -p ~/bpb
          cd ~/bpb
          git clone https://github.com/SemRoCo/bullet3.git
          cd bullet3
          ./build_better_pybullet.sh
      - if: ${{ steps.load-bpb.outputs.cache-hit != 'true' }}
        name: cache bpb
        id: cache-bpb
        uses: actions/cache/save@v3
        with:
          path: ~/bpb
          key: bpb
      - if: ${{ (always()) && (runner.debug == '1') }}
        name: Setup upterm session
        uses: lhotari/action-upterm@v1
  build_and_cache_qpSWIFT:
    runs-on: ubuntu-20.04
    steps:
      - name: load qpSWIFT
        id: load-qpSWIFT
        uses: actions/cache@v3
        with:
          path: ~/qpSWIFT
          key: qpSWIFT
      - if: ${{ steps.load-qpSWIFT.outputs.cache-hit != 'true' }}
        name: compile qpSWIFT
        run: |
          sudo pip3 install numpy
          cd ~
          git clone https://github.com/qpSWIFT/qpSWIFT
          cd qpSWIFT
          cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
          cmake --build build --config Release
          sudo cmake --build build --target install
      - if: ${{ steps.load-qpSWIFT.outputs.cache-hit != 'true' }}
        name: cache qpSWIFT
        id: cache-qpSWIFT
        uses: actions/cache/save@v3
        with:
          path: ~/qpSWIFT
          key: qpSWIFT
      - if: ${{ (always()) && (runner.debug == '1') }}
        name: Setup upterm session
        uses: lhotari/action-upterm@v1
  create_pip_cache:
    runs-on: ubuntu-20.04
    steps:
      - uses: actions/checkout@v3
      - name: load pip cache
        id: pip-load
        uses: actions/cache@v3
        with:
          path: ~/.cache/pip
          key: pip
      - if: ${{ steps.pip-load.outputs.cache-hit != 'true' }}
        name: install pip requirements
        run: |
          sudo apt install libeigen3-dev
          python3 -m pip install --upgrade pip
          pip3 install -r requirements.txt
      - if: ${{ steps.pip-load.outputs.cache-hit != 'true' }}
        name: cache pip
        id: cache-pip
        uses: actions/cache/save@v3
        with:
          path: ~/.cache/pip
          key: pip
      - if: ${{ (always()) && (runner.debug == '1') }}
        name: Setup upterm session
        uses: lhotari/action-upterm@v1