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ci.yml
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name: CI Workflow
on:
push:
pull_request_target:
types: [opened, synchronize, reopened]
branches:
- 'master'
- 'yarp-*'
- 'feature/*'
- 'CI/*'
release:
types: [published]
jobs:
select_environment:
name: 'Prepare Environment'
runs-on: ubuntu-20.04
outputs:
timestamp: ${{ steps.select.outputs.timestamp }}
repository_owner: ${{ steps.select.outputs.repository_owner }}
repository_name: ${{ steps.select.outputs.repository_name }}
repository: ${{ steps.select.outputs.repository }}
ref: ${{ steps.select.outputs.ref }}
environment: ${{ steps.select.outputs.environment }}
sha: ${{ steps.select.outputs.sha }}
head_ref: ${{ steps.select.outputs.head_ref }}
base_ref: ${{ steps.select.outputs.base_ref }}
pr_number: ${{ steps.select.outputs.pr_number }}
yarp_version: ${{ steps.select.outputs.yarp_version }}
steps:
- name: "Set output variables"
id: select
run: |
echo "::set-output name=timestamp::$(/bin/date -u +%Y%m%d-%H%M%S)"
echo "::set-output name=repository_owner::${{ github.repository_owner }}
echo "::set-output name=repository_name::$(cat $GITHUB_EVENT_PATH | jq -r .repository.name)
echo "::set-output name=repository::${{ github.repository }}"
if [[ "$GITHUB_EVENT_NAME" = "pull_request_target" ]]; then
echo "::set-output name=environment::code-analysis_unsafe"
echo "::set-output name=ref::refs/pull/$(cat $GITHUB_EVENT_PATH | jq -r .number)/merge"
else
echo "::set-output name=environment::code-analysis"
echo "::set-output name=ref::${{ github.ref }}"
fi
if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
echo "::set-output name=sha::${{ github.event.pull_request.head.sha }}"
echo "::set-output name=head_ref::${GITHUB_HEAD_REF}"
echo "::set-output name=base_ref::${GITHUB_BASE_REF}"
echo "::set-output name=pr_number::$(cat $GITHUB_EVENT_PATH | jq -r .number)"
else
echo "::set-output name=sha::${{ github.sha }}"
fi
# Get YARP Project Version
if [[ "$GITHUB_EVENT_NAME" = "release" ]]; then
echo "::set-output name=yarp_version::$(awk '/ VERSION /{print $2}' CMakeLists.txt)"
fi
- name: 'Debug output variables'
env:
TIMESTAMP: ${{ steps.select.outputs.timestamp }}
REPOSITORY_OWNER: ${{ steps.select.outputs.repository_owner }}
REPOSITORY_NAME: ${{ steps.select.outputs.repository_name }}
REPOSITORY: ${{ steps.select.outputs.repository }}
REF: ${{ steps.select.outputs.ref }}
ENVIRONMENT: ${{ steps.select.outputs.environment }}
SHA: ${{ steps.select.outputs.sha }}
HEAD_REF: ${{ steps.select.outputs.head_ref }}
BASE_REF: ${{ steps.select.outputs.base_ref }}
PR_NUMBER: ${{ steps.select.outputs.pr_number }}
YARP_VERSION: ${{ steps.select.outputs.yarp_version }}
run: |
echo "TIMESTAMP = ${TIMESTAMP}"
echo "REPOSITORY_OWNER = ${REPOSITORY_OWNER}"
echo "REPOSITORY_NAME = ${REPOSITORY_NAME}"
echo "REPOSITORY = ${REPOSITORY}"
echo "REF = ${REF}"
echo "ENVIRONMENT = ${ENVIRONMENT}"
echo "SHA = ${SHA}"
echo "HEAD_REF = ${HEAD_REF}"
echo "BASE_REF = ${BASE_REF}"
echo "PR_NUMBER = ${PR_NUMBER}"
echo "YARP_VERSION = ${YARP_VERSION}"
- name: "Print Environment"
run: |
env
- name: "Print Event Json"
run: |
echo "::group::install jq"
sudo apt-get update -qq
sudo apt-get install -qq -y jq
echo "::endgroup::"
cat $GITHUB_EVENT_PATH | jq -C
check-license:
name: 'Check License'
needs: select_environment
runs-on: ubuntu-20.04
steps:
- name: Clone repository
uses: actions/checkout@v2
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Install Dependencies
run: |
sudo apt-get update -qq
sudo apt-get install -qq -y perl
- name: Check License
run: |
tests/misc/check_license.pl
check-style:
name: 'Check Style'
needs: select_environment
runs-on: ubuntu-20.04
steps:
- name: Clone repository
uses: actions/checkout@v2
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Install Dependencies
run: |
sudo apt-get update -qq
sudo apt-get install -qq -y perl
- name: Check Style
run: |
tests/misc/check_style.pl
run-cmake:
name: 'Run CMake [CMake ${{ matrix.config.cmake_version }} (${{ matrix.config.cmake_generator }}), YCM ${{ matrix.config.ycm_version }}]'
needs: [select_environment, check-license, check-style]
runs-on: ubuntu-20.04
container:
image: ghcr.io/robotology/ycm:cmake-${{ matrix.config.cmake_version }}_ycm-${{ matrix.config.ycm_version }}
strategy:
fail-fast: false
matrix:
config:
- {
cmake_version: "3.16",
cmake_generator: "Unix Makefiles",
ycm_version: "0.13.0",
}
- {
cmake_version: "3.17",
cmake_generator: "Unix Makefiles",
ycm_version: "0.13.0",
}
- {
cmake_version: "3.18",
cmake_generator: "Unix Makefiles",
ycm_version: "0.13.0",
}
- {
cmake_version: "3.19",
cmake_generator: "Unix Makefiles",
ycm_version: "0.13.0",
}
- {
cmake_version: "3.20",
cmake_generator: "Unix Makefiles",
ycm_version: "0.13.0",
}
- {
cmake_version: "3.20",
cmake_generator: "Ninja",
ycm_version: "0.13.0",
}
- {
cmake_version: "3.21",
cmake_generator: "Unix Makefiles",
ycm_version: "0.13.0",
}
steps:
- name: Clone repository
uses: actions/checkout@v2
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Print CMake version
run: |
cmake --version
- name: Print YCM version
run: |
grep YCM_VERSION /usr/share/cmake/YCM/YCMConfig.cmake
- name: Run CMake
run: |
mkdir build
cd build
cmake .. -DSKIP_ACE=ON
build:
name: '[${{ matrix.config.id }}][${{ matrix.config.os }}|${{ matrix.config.cc }}|${{ matrix.config.cmake_generator }} (${{ matrix.config.cmake_toolset }} ${{ matrix.config.cmake_platform }})|${{ matrix.config.build_type }}] ${{ matrix.config.description }}'
needs: [select_environment, run-cmake]
runs-on: ${{ matrix.config.os }}
strategy:
fail-fast: false
matrix:
config:
- {
id: '01',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
test_external_bindings: true,
}
- {
id: '02',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
test_external_bindings: true,
}
- {
id: '03',
description: 'No ACE',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE=ON
-DSKIP_ACE:BOOL=ON",
test_external_bindings: true,
}
- {
id: '04',
description: 'No ACE',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
-DSKIP_ACE:BOOL=ON",
test_external_bindings: true,
}
- {
id: '05',
description: 'No YARP_math (bindings disabled)',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
-DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
-DYARP_COMPILE_libYARP_math:BOOL=OFF
-DYARP_COMPILE_BINDINGS:BOOL=OFF",
}
- {
id: '06',
description: 'No YARP_math (bindings disabled)',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
-DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
-DYARP_COMPILE_libYARP_math:BOOL=OFF
-DYARP_COMPILE_BINDINGS:BOOL=OFF",
}
- {
id: '07',
description: 'CLEAN_API (unit tests and bindings disabled)',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
-DYARP_COMPILE_TESTS:BOOL=OFF
-DYARP_COMPILE_BINDINGS:BOOL=OFF",
}
- {
id: '08',
description: 'CLEAN_API (unit tests and bindings disabled)',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
-DYARP_COMPILE_TESTS:BOOL=OFF
-DYARP_COMPILE_BINDINGS:BOOL=OFF",
}
- {
id: '09',
description: 'Static',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_SOXR=ON", # FIXME Enable when YCM 0.14 is available
}
- {
id: '10',
description: 'Static',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_SOXR=ON", # FIXME Enable when YCM 0.14 is available
}
- {
id: '11',
description: 'Static, no ACE (bindings disabled)',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
-DSKIP_ACE:BOOL=ON
-DYARP_COMPILE_BINDINGS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_SOXR=ON", # FIXME Enable when YCM 0.14 is available
}
- {
id: '12',
description: 'Static, no ACE (bindings disabled)',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
-DSKIP_ACE:BOOL=ON
-DYARP_COMPILE_BINDINGS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_SOXR=ON", # FIXME Enable when YCM 0.14 is available
}
- {
id: '13',
description: 'No deprecated',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
}
- {
id: '14',
description: 'No deprecated',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
}
- {
id: '15',
description: 'No executables (unit tests disabled)',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
-DYARP_COMPILE_TESTS:BOOL=OFF",
}
- {
id: '16',
description: 'No executables (unit tests disabled)',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
-DYARP_COMPILE_TESTS:BOOL=OFF",
}
- {
id: '17',
description: 'Build extern dependencies',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
-DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
-DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
}
- {
id: '18',
description: 'Build extern dependencies',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
-DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
-DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
}
- {
id: '19',
os: ubuntu-20.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Ninja",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
}
- {
id: '20',
os: ubuntu-20.04,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Ninja",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
}
- {
id: '21',
description: 'Valgrind (bindings, failing tests and examples as tests disabled)',
os: ubuntu-20.04,
build_type: "Debug",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# These devices link to glib/gobject causing some memory leak on
# valgrind, therefore they are not enabled on valgrind builds
cmake_extra_options: "-DYARP_VALGRIND_TESTS:BOOL=ON
-DYARP_DISABLE_FAILING_TESTS:BOOL=ON
-DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
-DYARP_COMPILE_BINDINGS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
-DCMAKE_DISABLE_FIND_PACKAGE_SOXR=ON
-DENABLE_yarpcar_h264:BOOL=OFF
-DENABLE_yarpcar_mjpeg:BOOL=OFF
-DENABLE_yarppm_image_compression_ffmpeg:BOOL=OFF
-DENABLE_yarpmod_usbCamera:BOOL=OFF
-DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
-DENABLE_yarpmod_ffmpeg_grabber:BOOL=OFF
-DENABLE_yarpmod_ffmpeg_writer:BOOL=OFF
-DENABLE_yarpmod_portaudio:BOOL=OFF
-DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
-DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
-DENABLE_yarpmod_fakeMicrophone:BOOL=OFF
-DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
}
- {
id: '22',
description: 'Valgrind, No ACE (bindings, failing tests and examples as tests disabled)',
os: ubuntu-20.04,
build_type: "Debug",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# These devices link to glib/gobject causing some memory leak on
# valgrind, therefore they are not enabled on valgrind builds
cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
-DSKIP_ACE:BOOL=ON
-DYARP_VALGRIND_TESTS:BOOL=ON
-DYARP_DISABLE_FAILING_TESTS:BOOL=ON
-DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
-DYARP_COMPILE_BINDINGS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
-DCMAKE_DISABLE_FIND_PACKAGE_SOXR=ON
-DENABLE_yarpcar_h264:BOOL=OFF
-DENABLE_yarpcar_mjpeg:BOOL=OFF
-DENABLE_yarppm_image_compression_ffmpeg:BOOL=OFF
-DENABLE_yarpmod_usbCamera:BOOL=OFF
-DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
-DENABLE_yarpmod_ffmpeg_grabber:BOOL=OFF
-DENABLE_yarpmod_ffmpeg_writer:BOOL=OFF
-DENABLE_yarpmod_portaudio:BOOL=OFF
-DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
-DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
-DENABLE_yarpmod_fakeMicrophone:BOOL=OFF
-DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
}
- {
id: '23',
os: windows-latest,
build_type: "Release",
cc: "cl",
cxx: "cl",
cmake_generator: "Visual Studio 16 2019",
cmake_toolset: "v142",
cmake_platform: "x64",
cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
}
- {
id: '24',
os: windows-latest,
build_type: "Release",
cc: "cl",
cxx: "cl",
cmake_generator: "Visual Studio 16 2019",
cmake_toolset: "v141",
cmake_platform: "x64",
cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
}
- {
id: '25',
os: windows-latest,
build_type: "Release",
cc: "cl",
cxx: "cl",
cmake_generator: "Ninja",
cmake_toolset: "v142",
cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
}
- {
id: '26',
os: windows-latest,
build_type: "Release",
cc: "cl",
cxx: "cl",
cmake_generator: "Ninja",
cmake_toolset: "v141",
cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
}
- {
id: '27',
os: macos-latest,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
}
- {
id: '28',
os: macos-latest,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Xcode",
cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
}
- {
id: '29',
os: macos-11.0,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
}
- {
id: '30',
os: macos-11.0,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Xcode",
cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
}
steps:
- name: Clone repository
uses: actions/checkout@v2
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Handle cache
uses: actions/cache@v2
with:
path: |
.ccache
key: build-${{ matrix.config.id }}-ccache-${{ github.ref }}-${{ needs.select_environment.outputs.timestamp }}
restore-keys: |
build-${{ matrix.config.id }}-${{ github.base_ref }}-ccache-
build-${{ matrix.config.id }}-${{ github.ref }}-ccache-
- name: Dependencies [Linux]
if: runner.os == 'Linux'
uses: nick-invision/[email protected]
with:
timeout_minutes: 20
retry_wait_seconds: 300
max_attempts: 3
command: |
# Install Robotology dependencies from robotology ppa
sudo apt-add-repository -y ppa:robotology/ppa
sudo apt-get install -qq -y ycm-cmake-modules \
librobottestingframework-dev
# Install build tools
sudo apt-get install -qq -y cmake \
ccache \
ninja-build \
valgrind
sudo apt-get install -qq -y libace-dev \
libsqlite3-dev \
libtinyxml-dev \
libedit-dev \
qtbase5-dev \
qtdeclarative5-dev \
qtmultimedia5-dev \
libqt5opengl5-dev \
libqcustomplot-dev \
libopencv-dev \
libeigen3-dev \
libgraphviz-dev \
libgstreamer1.0-dev \
libgstreamer-plugins-base1.0-dev \
libpng-dev \
libv4l-dev \
libavcodec-dev \
libavdevice-dev \
libavformat-dev \
libavutil-dev \
portaudio19-dev \
libsdl1.2-dev \
libopenni2-dev \
libftdi-dev \
libi2c-dev \
libfuse-dev \
libjpeg-dev \
libpcl-dev \
libsoxr-dev
# Install SWIG and bindings dependencies
sudo apt-get install -qq -y swig \
mono-mcs \
liblua5.3-dev \
lua5.3 \
tcl-dev \
tk-dev \
python3-dev \
liboctave-dev \
default-jdk \
ruby-dev \
ruby \
perl
# Other tools useful in github actions
sudo apt-get install -qq -y jq \
wget \
curl \
lcov \
gcovr \
wget \
curl \
clang-11 \
clang-tidy-11 \
xsltproc \
libxml2-utils \
source-highlight
# Remove old packages from apt cache
sudo apt-get autoclean -qq
- name: Dependencies [Windows]
if: runner.os == 'Windows'
uses: nick-invision/[email protected]
with:
timeout_minutes: 20
retry_wait_seconds: 300
max_attempts: 3
command: >-
echo # To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need &
choco install --no-progress -y wget 7zip &
echo &
echo # Download and install SWIG &
wget -nv https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.0.2/swigwin-4.0.2.zip -O swigwin.zip &
7z x swigwin.zip &
mv swigwin-4.0.2/swig.exe swig.exe &
echo &
echo # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg &
that has been used to create the pre-compiled archive &
wget -nv https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/v0.6.0/vcpkg-robotology-yarp-only.zip &
7z x -oC:\ vcpkg-robotology-yarp-only.zip &
echo &
echo # Download and install YCM &
wget -nv https://github.com/robotology/ycm/releases/download/v0.13.0/YCM-0.13.0-all.tar.gz -O ycm.tar.gz &
7z x ycm.tar.gz &
7z x -ttar -oC:\robotology ycm.tar &
echo &
echo # Download and install ccache &
wget -nv https://github.com/cristianadam/ccache/releases/download/v3.7.7/Windows.tar.xz -O ccache.tar.xz &
7z x ccache.tar.xz &
7z x -ttar ccache.tar
- name: Dependencies [macOS]
if: runner.os == 'macOS'
uses: nick-invision/[email protected]
with:
timeout_minutes: 20
retry_wait_seconds: 300
max_attempts: 3
command: |
# Select Xcode version
#ls -n /Applications/ | grep Xcode*
if [[ "${{ matrix.config.os }}" == "macos-11.0" ]]; then
sudo xcode-select -s /Applications/Xcode_12.3.app/Contents/Developer
fi
brew tap robotology/homebrew-formulae
brew update
brew install ccache
brew install ace
brew install sqlite tinyxml libedit libpng qt5 opencv eigen graphviz libsoxr
brew install robotology/formulae/ycm
- name: Prepare Environment Script
id: prepare_environment_script
shell: cmake -P {0}
run: |
cmake_minimum_required(VERSION 3.17)
set(_env_script ${CMAKE_CURRENT_LIST_DIR}/environment_script.cmake)
file(WRITE "${_env_script}" "")
if("${{ runner.os }}" STREQUAL "Windows" AND NOT "${{ matrix.config.environment_script }}" STREQUAL "")
execute_process(
COMMAND "${{ matrix.config.environment_script }}" && set
OUTPUT_FILE environment_script_output.txt
)
file(STRINGS environment_script_output.txt output_lines)
foreach(line IN LISTS output_lines)
if(line MATCHES "^([a-zA-Z0-9_-]+)=(.*)$")
set(_key "${CMAKE_MATCH_1}")
set(_value "${CMAKE_MATCH_2}")
string(REPLACE "\\" "\\\\" _value "${_value}")
file(APPEND "${_env_script}" "set(ENV{${_key}} \"${_value}\")\n")
endif()
endforeach()
# Ninja and other tools are downloaded in $GITHUB_WORKSPACE
file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\")\n")
# YCM is installed manually, set YCM_DIR to allow CMake to find it
file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"C:\\\\robotology\\\\YCM-0.13.0-all\")\n")
# Append vcpkg bin directory to the PATH
if("${{ matrix.config.build_type }}" STREQUAL "Release")
file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\bin\")\n")
else()
file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\debug\\\\bin\")\n")
endif()
# Append output bin directory to the PATH
if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio")
file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\\\\${{ matrix.config.build_type }}\")\n")
elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja")
file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\")\n")
endif()
endif()
file(APPEND "${_env_script}" "set(ENV{CC} ${{ matrix.config.cc }})\n")
file(APPEND "${_env_script}" "set(ENV{CXX} ${{ matrix.config.cxx }})\n")
if("${{ matrix.config.cc }}" MATCHES "gcc")
file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fdiagnostics-color=always)\n")
file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fdiagnostics-color=always)\n")
elseif("${{ matrix.config.cc }}" MATCHES "clang")
file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fcolor-diagnostics)\n")
file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fcolor-diagnostics)\n")
endif()
file(APPEND "${_env_script}" "file(TO_CMAKE_PATH \"\$ENV{GITHUB_WORKSPACE}\" ccache_basedir)\n")
file(APPEND "${_env_script}" "set(ENV{CCACHE_BASEDIR} \"\${ccache_basedir}\")\n")
file(APPEND "${_env_script}" "set(ENV{CCACHE_DIR} \"\${ccache_basedir}/.ccache\")\n")
file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESS} \"true\")\n")
file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESSLEVEL} \"6\")\n")
if("${{ matrix.config.cxx }}" STREQUAL "cl")
file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"600M\")\n")
else()
file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"400M\")\n")
endif()
# Force ccache to build the original cpp file instead of the pre-processed file
file(APPEND "${_env_script}" "set(ENV{CCACHE_CPP2} \"yes\")\n")
# Prepend ccache lib dir on Linux and macOS
if("${{ runner.os }}" STREQUAL "Linux")
file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/lib/ccache:\$ENV{PATH}\")\n")
elseif("${{ runner.os }}" STREQUAL "macOS")
file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/local/opt/ccache/libexec:\$ENV{PATH}\")\n")
endif()
# CMake/CTest variables
file(APPEND "${_env_script}" "set(ENV{CTEST_OUTPUT_ON_FAILURE} \"1\")\n")
file(APPEND "${_env_script}" "set(ENV{CLICOLOR_FORCE} \"1\")\n")
# YARP variables
file(APPEND "${_env_script}" "set(ENV{YARP_PORT_RANGE} \"20000\")\n")
# Add execute_process_x() macro
file(APPEND "${_env_script}" "
function(execute_process_x)
set(_options)
set(_oneValueArgs RESULT_VARIABLE WORKING_DIRECTORY)
set(_multiValueArgs COMMAND)
cmake_parse_arguments(_x \"\${_options}\" \"\${_oneValueArgs}\" \"\${_multiValueArgs}\" \${ARGN})
string(REPLACE \";\" \" \" _cmd \"\${_x_COMMAND}\")
string(REPLACE \"\\\\\" \"\\\\\\\\\" _cmd \"\${_cmd}\")
message(STATUS \"\\n\$ \${_cmd}\")
if(DEFINED _x_WORKING_DIRECTORY)
set(_wd WORKING_DIRECTORY \"\${_x_WORKING_DIRECTORY}\")
endif()
execute_process(COMMAND \${_x_COMMAND}
\${_wd}
RESULT_VARIABLE _result)
if(NOT _result EQUAL 0)
message(WARNING \"The command \\\"\${_cmd}\\\" failed with result \\\"\${_result}\\\"\")
endif()
if(DEFINED _x_RESULT_VARIABLE)
set(\${_x_RESULT_VARIABLE} \${_result} PARENT_SCOPE)
endif()
endfunction()
")
message("::set-output name=environment_script::${_env_script}")
- name: Print Environment Script
shell: cmake -P {0}
run: |
cmake_minimum_required(VERSION 3.17)
file(READ "${{ steps.prepare_environment_script.outputs.environment_script }}" _out)
message("${_out}")
- name: Print system information
shell: cmake -P {0}
run: |
cmake_minimum_required(VERSION 3.17)
include(${{ steps.prepare_environment_script.outputs.environment_script }})
set(_which_cmd which)
set(_env_cmd env)
if("${{ runner.os }}" STREQUAL "Windows")
set(_which_cmd where)
set(_env_cmd env)
endif()
if(UNIX)
execute_process_x(COMMAND uname -a)
endif()
if("${{ runner.os }}" STREQUAL "Linux")
execute_process_x(COMMAND lsb_release -a)
execute_process_x(COMMAND cat /etc/apt/sources.list)
execute_process_x(COMMAND ls -la --color=always /etc/apt/sources.list.d)
file(GLOB _list_files "/etc/apt/sources.list.d/*.list")
foreach(_list_file IN LISTS _list_files)
execute_process_x(COMMAND cat ${_list_file})
endforeach()
elseif("${{ runner.os }}" STREQUAL "macOS")
execute_process_x(COMMAND system_profiler SPSoftwareDataType)
elseif("${{ runner.os }}" STREQUAL "Windows")
execute_process_x(COMMAND Systeminfo)
endif()
execute_process_x(COMMAND ${_which_cmd} cmake)
execute_process_x(COMMAND cmake --version)
if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio")
execute_process_x(COMMAND ${_which_cmd} msbuild)
execute_process_x(COMMAND msbuild /version)
elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja")
execute_process_x(COMMAND ${_which_cmd} ninja)
execute_process_x(COMMAND ninja --version)
elseif("${{ matrix.config.cmake_generator }}" MATCHES "Unix Makefiles")
execute_process_x(COMMAND ${_which_cmd} make)
execute_process_x(COMMAND make --version)
elseif("${{ matrix.config.cmake_generator }}" MATCHES "Xcode")
execute_process_x(COMMAND ${_which_cmd} xcodebuild)
execute_process_x(COMMAND xcodebuild -version)
endif()
execute_process_x(COMMAND ${_which_cmd} $ENV{CC})
execute_process_x(COMMAND ${_which_cmd} $ENV{CXX})
if("$ENV{CC}" STREQUAL "cl")
execute_process_x(COMMAND $ENV{CC})
execute_process_x(COMMAND $ENV{CXX})
else()
execute_process_x(COMMAND $ENV{CC} --version)
execute_process_x(COMMAND $ENV{CXX} --version)
endif()
execute_process_x(COMMAND ${_which_cmd} ccache)
execute_process_x(COMMAND ccache --version)
execute_process_x(COMMAND ccache -p)
if("${{ runner.os }}" STREQUAL "Linux")
execute_process_x(COMMAND ls -la --color=always /usr/lib/ccache)
execute_process_x(COMMAND ls -la --color=always $ENV{HOME}/lib/ccache)
endif()
execute_process_x(COMMAND ${_which_cmd} swig)
execute_process_x(COMMAND swig -version)
execute_process_x(COMMAND ${_which_cmd} javac)
execute_process_x(COMMAND javac -version)
if("${{ runner.os }}" STREQUAL "Linux")
execute_process_x(COMMAND netstat -tulpn)
endif()
execute_process_x(COMMAND ${_env_cmd})
- name: Configure
shell: cmake -P {0}
run: |
cmake_minimum_required(VERSION 3.17)
include(${{ steps.prepare_environment_script.outputs.environment_script }})
set(_generator)
if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "")
set(_generator -G "${{ matrix.config.cmake_generator }}")
endif()
set(_toolset)
if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "")
list(APPEND toolset -T ${{ matrix.config.cmake_toolset }})
endif()
set(_platform)
if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "")
list(APPEND _platform -A ${{ matrix.config.cmake_platform }})
endif()
set(_initial_cache_file)
if(NOT "${{ matrix.config.cmake_initial_cache_file }}" STREQUAL "")
set(_initial_cache_file -C "${{ matrix.config.cmake_initial_cache_file }}")
endif()
set(_toolchain_file)
if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "")
set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }})
endif()
set(_build_type)
if(NOT "${{ matrix.config.build_type }}" STREQUAL "")
set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }})
endif()
file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix)
set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix})
set(_cmake_compiler_lauchers )
if("${{ runner.os }}" STREQUAL "Windows")
find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE)
set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd}