ci.yml

name: Continuous Integration

on:
  push:
    branches:
    - 'master'
    - 'devel'
  pull_request:
  workflow_dispatch:
    
jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Release]
        os: [ubuntu-latest]

    steps:
    - uses: actions/checkout@main
        
    # 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
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    # ============
    # DEPENDENCIES
    # ============
    - name: Dependencies
      run: |
        sudo apt update
        sudo apt install git build-essential pkg-config zip unzip zlib1g-dev cmake libace-dev libeigen3-dev libtinyxml-dev libgsl-dev

    - name: Source-based Dependencies
      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 -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
        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 }} \
        -DYARP_COMPILE_DEVICE_PLUGINS:BOOL=OFF -DYARP_COMPILE_CARRIER_PLUGINS:BOOL=OFF -DYARP_COMPILE_PORTMONITOR_PLUGINS:BOOL=OFF -DYARP_COMPILE_EXECUTABLES:BOOL=OFF ..
        cmake --build . --config ${{ matrix.build_type }} --target install 
        # icub-contrib-common
        cd ${GITHUB_WORKSPACE}/..
        git clone https://github.com/robotology/icub-contrib-common.git --depth 1
        cd icub-contrib-common && mkdir -p build && cd build
        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
        cmake --build . --config ${{ matrix.build_type }} --target install 

    # ===================
    # CMAKE-BASED PROJECT
    # ===================
    - name: Configure
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DINSTALL_ALL_ROBOTS:BOOL=ON ..

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