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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 * * *' | |
| jobs: | |
| build: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release, Debug] | |
| os: [ubuntu-latest, windows-latest] | |
| steps: | |
| - uses: actions/checkout@master | |
| - 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 "::add-path::C:\Program Files\Git\bin" | |
| echo "::set-env name=VCPKG_ROBOTOLOGY_ROOT::C:/robotology/vcpkg" | |
| - 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 [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| run: | | |
| sudo apt update | |
| sudo apt install git build-essential clang valgrind cmake \ | |
| libboost-all-dev libtinyxml-dev \ | |
| libace-dev libeigen3-dev | |
| - name: Dependencies [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash | |
| run: | | |
| # To avoid spending a huge time compiling vcpkg dependencies, we download an archive that comes precompiled with all the ports that we need | |
| choco install -y wget unzip | |
| # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same directory | |
| # that has been used to create the pre-compiled archive | |
| cd C:/ | |
| wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/v0.2.0/vcpkg-robotology.zip | |
| unzip vcpkg-robotology.zip -d C:/ | |
| rm vcpkg-robotology.zip | |
| - name: Source-based Dependencies [Ubuntu] | |
| if: matrix.os == 'ubuntu-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 .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # yarp | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp.git --depth 1 --branch master | |
| cd yarp && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # icub-firmware-shared | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch devel | |
| cd icub-firmware-shared && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - 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 .. | |
| 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_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # icub-firmware-shared | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch devel | |
| cd icub-firmware-shared && mkdir -p build && cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [Ubuntu] | |
| if: matrix.os == 'ubuntu-latest' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCOMPILE_WITHYARP_DEF:BOOL=ON -DCOMPILE_WITHUNITTEST:BOOL=ON .. | |
| 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: Configure [Windows] | |
| # Use bash also on Windows (otherwise cd, mkdir, ... do not work) | |
| 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_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCOMPILE_WITHYARP_DEF:BOOL=ON -DCOMPILE_WITHUNITTEST:BOOL=OFF .. | |
| - 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 | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # - name: Test | |
| # if: matrix.os == 'ubuntu-latest' | |
| # shell: bash | |
| # run: | | |
| # cd build/bin | |
| # ./DD_tst |