cxx-ci.yml

name: C++ CI Workflow

on:
  push:
  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-with-conda-dependencies:
    name: '[conda:${{ matrix.os }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        build_type: [Release]
        os: [ubuntu-20.04, macos-latest, windows-2019]

    steps:
    - uses: actions/checkout@v4

    - uses: conda-incubator/setup-miniconda@v3
      with:
        miniforge-variant: Mambaforge
        miniforge-version: latest
        channels: conda-forge

    - name: Dependencies [Conda]
      shell: bash -l {0}
      run: |
        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
        conda config --remove channels defaults
        # Build and test dependencies (ROS packages to test that resouces are find correctly by ROS/ROS2)
        # ros-noetic-catkin is required otherwised ROS_PACKAGE_PATH is not defined and rospack list does not return anything
        mamba install -c conda-forge -c robostack -c robostack-humble cmake compilers make ninja pkg-config python ros-noetic-rospack ros-noetic-catkin ros-humble-ros2pkg

    - name: Print used environment [Conda]
      shell: bash -l {0}
      run: |
        mamba list
        env

    - name: Configure [Conda/Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        mkdir build
        cd build
        cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DICUB_MODELS_USES_PYTHON:BOOL=ON -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} ..

    - name: Configure [Conda/Windows]
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        mkdir build
        cd build
        cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library  -DICUB_MODELS_USES_PYTHON:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..

    - name: Build [Conda]
      shell: bash -l {0}
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

    - name: Install [Conda]
      shell: bash -l {0}
      run: |
        cd build
        cmake --install . --config ${{ matrix.build_type }}

    - name: Test ROS Package can be found [Conda/Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        # Test ROS
        rospack find iCub
        # Test ROS2
        ros2 pkg prefix iCub

    - name: Test ROS Package can be found [Conda/Windows]
      if: contains(matrix.os, 'windows')
      shell: cmd /C CALL {0}
      run: |
        rospack find iCub
        ros2 pkg prefix iCub

  build-with-apt-dependencies:
    name: '[apt:${{ matrix.docker_image }}@${{ matrix.build_type }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        build_type: [Release]
        os:
          - ubuntu-latest
        docker_image:
          - "ubuntu:20.04"
          - "ubuntu:22.04"
          - "debian:sid"
    container:
      image: ${{ matrix.docker_image }}

    steps:
    - uses: actions/checkout@v4

    # Print environment variables to simplify development and debugging
    - name: Environment Variables
      shell: bash
      run: env

    - name: Dependencies [apt]
      run: |
        # See  https://stackoverflow.com/questions/44331836/apt-get-install-tzdata-noninteractive,
        # only required by Ubuntu 20.04
        export DEBIAN_FRONTEND=noninteractive
        apt-get -y update
        apt-get -y install \
            git build-essential cmake

    - name: Configure [apt]
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..

    - name: Build
      shell: bash
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}