Continuous Integration #470
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| name: Continuous Integration | |
| on: | |
| push: | |
| paths-ignore: | |
| - 'doc/**' | |
| - '**.md' | |
| pull_request: | |
| schedule: | |
| - cron: '0 0 * * TUE' | |
| workflow_dispatch: | |
| env: | |
| CMAKE_CCACHE_LAUNCHER: -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache | |
| jobs: | |
| maybe_skip: | |
| runs-on: ubuntu-latest | |
| outputs: | |
| should_skip: ${{steps.skip_check.outputs.should_skip}} | |
| steps: | |
| - uses: fkirc/skip-duplicate-actions@v5 | |
| id: skip_check | |
| with: | |
| cancel_others: 'true' | |
| build: | |
| name: build (${{matrix.os}}, ${{matrix.robotology.yarp}}, ${{matrix.compiler.cc}}) | |
| runs-on: ${{matrix.os}} | |
| needs: maybe_skip | |
| if: ${{needs.maybe_skip.outputs.should_skip != 'true'}} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-22.04, ubuntu-24.04] | |
| robotology: | |
| - { yarp: yarp-3.8, cmake: 3.16.x } | |
| - { yarp: yarp-3.9, cmake: 3.16.x } | |
| - { yarp: master, cmake: 3.19.x } | |
| compiler: | |
| - { cc: gcc, cxx: g++ } | |
| - { cc: clang, cxx: clang++ } | |
| experimental: | |
| - ${{github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}} | |
| exclude: | |
| - { experimental: false, robotology: { yarp: master } } | |
| steps: | |
| - name: Check out kinematics-dynamics | |
| uses: actions/checkout@v4 | |
| - name: Check out YCM | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: robotology/ycm | |
| path: .deps/ycm | |
| - name: Check out YARP | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: robotology/yarp | |
| ref: ${{matrix.robotology.yarp}} | |
| path: .deps/yarp | |
| - name: Check out Orocos KDL | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: orocos/orocos_kinematics_dynamics | |
| path: .deps/kdl | |
| - name: Check out SWIG | |
| if: ${{matrix.os == 'ubuntu-24.04'}} | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: swig/swig | |
| ref: v4.2.1 | |
| path: .deps/swig | |
| - name: Install dependencies via apt | |
| run: sudo apt-get install -qq ccache libeigen3-dev googletest | |
| - name: Set up CMake | |
| uses: jwlawson/actions-setup-cmake@v2 | |
| with: | |
| cmake-version: ${{matrix.robotology.cmake}} | |
| - name: Set up Ccache | |
| uses: hendrikmuhs/ccache-action@v1 | |
| with: | |
| key: ${{matrix.os}}-${{matrix.robotology.yarp}}-${{matrix.compiler.cc}} | |
| - name: Set environment variables | |
| run: | | |
| echo "CC=${{matrix.compiler.cc}}" >> $GITHUB_ENV | |
| echo "CXX=${{matrix.compiler.cxx}}" >> $GITHUB_ENV | |
| - name: Build YCM | |
| run: | | |
| cmake -S .deps/ycm -B .deps/ycm/build | |
| cmake --build .deps/ycm/build | |
| sudo cmake --install .deps/ycm/build | |
| - name: Build YARP | |
| run: | | |
| cmake -S .deps/yarp -B .deps/yarp/build $CMAKE_CCACHE_LAUNCHER -DSKIP_ACE=ON -DYARP_DISABLE_VERSION_SOURCE=ON -DENABLE_yarpmod_fakeMotionControl=ON | |
| cmake --build .deps/yarp/build | |
| sudo cmake --install .deps/yarp/build | |
| - name: Build Orocos KDL | |
| run: | | |
| cmake -S .deps/kdl/orocos_kdl -B .deps/kdl/orocos_kdl/build $CMAKE_CCACHE_LAUNCHER | |
| cmake --build .deps/kdl/orocos_kdl/build | |
| sudo cmake --install .deps/kdl/orocos_kdl/build | |
| - name: Build SWIG | |
| if: ${{matrix.os == 'ubuntu-24.04'}} | |
| run: | | |
| cmake -S .deps/swig -B .deps/swig/build $CMAKE_CCACHE_LAUNCHER | |
| cmake --build .deps/swig/build | |
| sudo cmake --install .deps/swig/build | |
| sudo ln -s /usr/local/bin/swig /usr/local/bin/swig4.0 # shadows /usr/bin/swig4.0 | |
| - name: Configure kinematics-dynamics | |
| run: cmake -S . -B ./build $CMAKE_CCACHE_LAUNCHER -DCREATE_BINDINGS_PYTHON=ON -DENABLE_examples=ON | |
| - name: Compile kinematics-dynamics | |
| run: cmake --build ./build | |
| - name: Install kinematics-dynamics | |
| run: sudo cmake --install ./build && sudo ldconfig | |
| - name: Test kinematics-dynamics | |
| working-directory: build | |
| run: ctest -V | |
| - name: Uninstall kinematics-dynamics | |
| run: sudo cmake --build ./build --target uninstall |