Switch CI from miniconda to micromamba and remove homebrew

.github/workflows/ci.yml

@@ -13,14 +13,11 @@ on:
     - cron: '0 2 * * *'
 
 env:
-    vcpkg_robotology_TAG: v0.10.1
     YCM_TAG: v0.15.3
     YARP_TAG: v3.8.1
     iDynTree_TAG: v9.1.0
     matioCpp_TAG: v0.2.2
     robometry_TAG: v1.2.1
-    # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by Github Actions to point to our vcpkg
-    VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
 
 jobs:
     build:
@@ -36,37 +33,22 @@ jobs:
         # Clone the repository in $GITHUB_WORKSPACE
         - uses: actions/checkout@master
 
-        - uses: conda-incubator/setup-miniconda@v2
-          if: contains(matrix.os, 'windows')
+        - uses: mamba-org/setup-micromamba@v1
+          if: matrix.os == 'windows-latest' || matrix.os == 'macOS-latest'
           with:
-            mamba-version: "*"
-            channels: conda-forge,defaults
-            channel-priority: true
-            activate-environment: wearables
-            python-version: 3.8
+            environment-file: ci_env.yml
 
         # Print the environment variables to simplify development and debugging
         - name: Environment Variables
-        # Use bash  in order to have same basic commands in all OSs
+          if: matrix.os == 'ubuntu-latest'
+          # 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
         # ============
 
-        - name: Dependencies [macOS]
-          if: matrix.os == 'macOS-latest'
-          run: |
-            brew install ccache eigen ace tinyxml gsl boost libmatio pybind11
-
         - name: Dependencies [Ubuntu]
           if: matrix.os == 'ubuntu-latest'
           run: |
@@ -75,18 +57,9 @@ jobs:
                              libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \
                              libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev python3-pybind11 valgrind libassimp-dev libmatio-dev
 
-        - name: Cache Source-based dependencies  [Ubuntu/macOS]
-          if: steps.cache-source-deps.outputs.cache-hit != 'true' && (contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macOS'))
-          id: cache-source-deps
-          uses: actions/cache@v3
-          with:
-            path: ${{ github.workspace }}/install/deps
-            # Including ${{ runner.temp }} is a workaround for https://github.com/robotology/whole-body-estimators/issues/60
-            key: source-deps-${{runner.os}}-${{runner.temp}}-vcpkg-robotology-${{env.vcpkg_robotology_TAG}}-ycm-${{env.YCM_TAG}}-yarp-${{env.YARP_TAG}}-iDynTree-${{env.iDynTree_TAG}}-matioCpp-${{env.matioCpp_TAG}}-robometry-${{env.robometry_TAG}}
 
-
-        - name: Source-based Dependencies [Ubuntu/macOS]
-          if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')
+        - name: Source-based Dependencies [Ubuntu]
+          if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest')
           shell: bash
           run: |
             # YCM
@@ -142,15 +115,6 @@ jobs:
                   -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
             cmake --build . --config ${{matrix.build_type}} --target install
 
-        - name: Dependencies (using conda) [Windows]
-          if: steps.cache-source-deps.outputs.cache-hit != 'true' && contains(matrix.os, 'windows')
-          shell: bash -l {0}
-          run: |
-            # Compilation related dependencies
-            mamba install cmake compilers make ninja pkg-config
-            # Actual dependencies
-            mamba install -c robotology yarp idyntree matio-cpp robometry
-
         # ===================
         # CMAKE-BASED PROJECT
         # ===================
@@ -164,15 +128,17 @@ jobs:
             cd build
             cmake -G"Visual Studio 17 2022" -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                                             -DCMAKE_BUILD_TPYE=${{matrix.build_type}} \
+                                            -DWEARABLES_COMPILE_PYTHON_BINDINGS=ON \
                                             -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
 
         - name: Configure [Ubuntu/macOS]
           if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
-          shell: bash
+          shell: bash -l {0}
           run: |
             mkdir -p build
             cd build
             cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
+                  -DCMAKE_BUILD_TPYE=${{matrix.build_type}} \
                   -DWEARABLES_COMPILE_PYTHON_BINDINGS=ON \
                   -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
 
@@ -181,7 +147,4 @@ jobs:
           shell: bash
           run: |
             cd build
-            # Attempt of fix for using YARP idl generators (that link ACE) in Windows
-            # See https://github.com/robotology/idyntree/issues/569
-            export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_INSTALLATION_ROOT}/install/x64-windows/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/debug/bin
             cmake --build . --config ${{matrix.build_type}}

ci_env.yml

@@ -0,0 +1,15 @@
+name: wearables
+channels:
+  - conda-forge
+  - robotology
+dependencies:
+  - cmake
+  - compilers
+  - make
+  - ninja
+  - pkg-config
+  - pybind11
+  - yarp
+  - idyntree
+  - matio-cpp
+  - robometry