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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-22.04
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: ${{ steps.select.outputs.yarp_version }}
steps:
- name: "Set output variables"
id: select
run: |
echo "timestamp=$(/bin/date -u +%Y%m%d-%H%M%S)" >> $GITHUB_OUTPUT
echo "repository_owner=${{ github.repository_owner }}" >> $GITHUB_OUTPUT
echo "repository_name=$(cat $GITHUB_EVENT_PATH | jq -r .repository.name)" >> $GITHUB_OUTPUT
echo "repository=${{ github.repository }}" >> $GITHUB_OUTPUT
if [[ "$GITHUB_EVENT_NAME" = "pull_request_target" ]]; then
echo "environment=code-analysis_unsafe" >> $GITHUB_OUTPUT
echo "ref=refs/pull/$(cat $GITHUB_EVENT_PATH | jq -r .number)/merge" >> $GITHUB_OUTPUT
else
echo "environment=code-analysis" >> $GITHUB_OUTPUT
echo "ref=${{ github.ref }}" >> $GITHUB_OUTPUT
fi
if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
echo "sha=${{ github.event.pull_request.head.sha }}" >> $GITHUB_OUTPUT
echo "head_ref=${GITHUB_HEAD_REF}" >> $GITHUB_OUTPUT
echo "base_ref=${GITHUB_BASE_REF}" >> $GITHUB_OUTPUT
echo "pr_number=$(cat $GITHUB_EVENT_PATH | jq -r .number)" >> $GITHUB_OUTPUT
else
echo "sha=${{ github.sha }}" >> $GITHUB_OUTPUT
fi
# Get YARP Project Version
if [[ "$GITHUB_EVENT_NAME" = "release" ]]; then
echo "yarp_version=$(awk '/ VERSION /{print $2}' CMakeLists.txt)" >> $GITHUB_OUTPUT
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-22.04
steps:
- name: Clone repository
uses: actions/checkout@v3
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-22.04
steps:
- name: Clone repository
uses: actions/checkout@v3
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
check-tests:
name: 'Check Devices Tests'
needs: select_environment
runs-on: ubuntu-20.04
steps:
- name: Clone repository
uses: actions/checkout@v3
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 python3
- name: Check Devices Tests
run: |
python3 tests/misc/check_tests.py
run-cmake:
name: 'Run CMake [CMake ${{ matrix.config.cmake_version }} (${{ matrix.config.cmake_generator }}), YCM ${{ matrix.config.ycm_version }}]'
needs: [select_environment, check-license, check-style]
runs-on: ubuntu-22.04
strategy:
fail-fast: false
matrix:
config:
- {
cmake_version: "3.17.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.18.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.19.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.20.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.20.*",
cmake_generator: "Ninja",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.21.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.22.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.23.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.24.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.25.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.26.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
- {
cmake_version: "3.27.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.3",
}
steps:
- name: remove any previous installation of cmake
run: |
sudo rm /usr/local/bin/cmake
- name: install cmake
run: |
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
sudo apt-get update
sudo rm /usr/share/keyrings/kitware-archive-keyring.gpg
sudo apt-get -y install kitware-archive-keyring
sudo apt-cache policy cmake-data
sudo apt-cache policy cmake
sudo apt-get -y install cmake-data=${{matrix.config.cmake_version}}
sudo apt-get -y -f install cmake=${{matrix.config.cmake_version}}
- name: Print CMake version
run: |
which cmake
cmake --version
/usr/bin/cmake --version
- name: Get YCM package
run: |
wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb
- name: Print YCM version
run: |
grep YCM_VERSION /usr/share/cmake/YCM/YCMConfig.cmake
- name: Clone Yarp repository
uses: actions/checkout@v3
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Run CMake
run: |
mkdir build
cd build
cmake .. -DSKIP_ACE=ON
build:
name: '[${{ 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-22.04,
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-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
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-22.04,
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-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
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-22.04,
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-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
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-22.04,
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-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
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-22.04,
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",
}
- {
id: '10',
description: 'Static',
os: ubuntu-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
}
- {
id: '11',
description: 'Static, no ACE (bindings disabled)',
os: ubuntu-22.04,
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",
}
- {
id: '12',
description: 'Static, no ACE (bindings disabled)',
os: ubuntu-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
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",
}
- {
id: '13',
description: 'No deprecated',
os: ubuntu-22.04,
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-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
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-22.04,
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-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
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-22.04,
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-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
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-22.04,
build_type: "Release",
cc: "gcc",
cxx: "g++",
cmake_generator: "Ninja",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
}
- {
id: '20',
os: ubuntu-22.04,
build_type: "Release",
cc: "clang-17",
cxx: "clang++-17",
cmake_generator: "Ninja",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
}
- {
id: '21',
description: 'Valgrind (bindings, failing tests, guis and examples as tests disabled)',
os: ubuntu-22.04,
build_type: "Debug",
cc: "gcc",
cxx: "g++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
cmake_extra_options: "-DYARP_VALGRIND_TESTS:BOOL=ON
-DYARP_DISABLE_FAILING_TESTS:BOOL=ON
-DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
-DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
-DYARP_COMPILE_BINDINGS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
-DYARP_COMPILE_GUIS:BOOL=OFF
-DENABLE_yarpmod_usbCamera:BOOL=OFF
-DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
-DENABLE_yarpmod_portaudio:BOOL=OFF
-DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
-DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
-DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
}
- {
id: '22',
description: 'Valgrind, No ACE (bindings, failing tests, guis and examples as tests disabled)',
os: ubuntu-22.04,
build_type: "Debug",
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:BOOL=ON
-DSKIP_ACE:BOOL=ON
-DYARP_VALGRIND_TESTS:BOOL=ON
-DYARP_DISABLE_FAILING_TESTS:BOOL=ON
-DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
-DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
-DYARP_COMPILE_BINDINGS:BOOL=OFF
-DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
-DYARP_COMPILE_GUIS:BOOL=OFF
-DENABLE_yarpmod_usbCamera:BOOL=OFF
-DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
-DENABLE_yarpmod_portaudio:BOOL=OFF
-DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
-DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
-DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
}
- {
id: '23',
os: windows-2019,
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-2019,
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-2019,
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-2019,
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: windows-2022,
build_type: "Release",
cc: "cl",
cxx: "cl",
cmake_generator: "Visual Studio 17 2022",
cmake_toolset: "v143",
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/2022/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
}
- {
id: '28',
os: windows-2022,
build_type: "Release",
cc: "cl",
cxx: "cl",
cmake_generator: "Visual Studio 17 2022",
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/2022/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
}
- {
id: '29',
os: macos-13,
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-13,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Xcode",
cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
}
- {
id: '31',
os: macos-12,
build_type: "Release",
cc: "clang",
cxx: "clang++",
cmake_generator: "Unix Makefiles",
cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
}
- {
id: '32',
os: macos-12,
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@v3
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Handle cache
uses: actions/cache@v3
with:
path: |
.ccache
key: build-${{ 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'
shell: bash
run: |
# Install dep for gstreamer. It must be the first one.
sudo apt-get update
sudo apt-get install -y libunwind-dev
#Install clang 17
sudo apt-get purge -y llvm* clang*
wget -nv https://apt.llvm.org/llvm.sh
sudo chmod +x llvm.sh
sudo ./llvm.sh 17
# Install Robotology dependencies from robotology ppa
sudo apt-add-repository -y ppa:robotology/ppa
sudo apt-get install -qq -y librobottestingframework-dev
sudo apt-get update
# Install cmake
sudo apt-get install -qq -y cmake
which cmake
cmake --version
/usr/bin/cmake --version
# Install ycm
wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb
# Install build tools
sudo apt-get install -qq -y ccache \
ninja-build \
valgrind
sudo apt-get install -y libace-dev
sudo apt-get install -y libsqlite3-dev \
libtinyxml-dev \
libedit-dev \
qtbase5-dev \
qtdeclarative5-dev \
qtmultimedia5-dev \
libqt5opengl5-dev \
libqcustomplot-dev \
libopencv-dev \
libeigen3-dev \
libgraphviz-dev \
libpng-dev \
libv4l-dev \
libavcodec-dev \
libavdevice-dev \
libavformat-dev \
libavutil-dev \
portaudio19-dev \
libsdl1.2-dev \
libopenni2-dev \
libftdi-dev \
libi2c-dev \
libjpeg-dev \
libpcl-dev \
libsoxr-dev
sudo apt-get install -y libgstreamer1.0-dev \
libgstreamer-plugins-base1.0-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 \
ruby-dev \
ruby \
perl
# Other tools useful in github actions
sudo apt-get install -qq -y jq \
wget \
curl \
lcov \
gcovr \
wget \
curl \
xsltproc \
libxml2-utils \
source-highlight
# Remove old packages from apt cache
sudo apt-get autoclean -qq
- name: Dependencies [Windows]
if: runner.os == 'Windows'
run: |
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/v0.10.1/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/v0.15.3/ycm-cmake-modules-0.15.3-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'
run: |
# Temporary workaround for https://github.com/actions/setup-python/issues/577
rm -f /usr/local/bin/2to3
rm -f /usr/local/bin/idle3
rm -f /usr/local/bin/pydoc3
rm -f /usr/local/bin/python3
rm -f /usr/local/bin/python3-config
rm -f /usr/local/bin/2to3-3.11
rm -f /usr/local/bin/idle3.11
rm -f /usr/local/bin/pydoc3.11
rm -f /usr/local/bin/python3.11
rm -f /usr/local/bin/python3.11-config
wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.tar.gz -O /Users/runner/work/yarp/ycm.tar.gz
7z x /Users/runner/work/yarp/ycm.tar.gz -o/Users/runner/work/yarp
7z x -ttar /Users/runner/work/yarp/ycm.tar -o/Users/runner/work/yarp
brew update
brew install ccache
brew install ace
brew install sqlite tinyxml libedit libpng qt5 opencv eigen graphviz libsoxr
- 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 YCM is installed manually, set YCM_DIR to allow CMake to find it
if("${{ runner.os }}" STREQUAL "Windows")
file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"C:\\\\robotology\\\\YCM-0.15.3-all\")\n")
elseif("${{ runner.os }}" STREQUAL "macOS")
file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"/Users/runner/work/yarp/YCM-0.15.3-all\")\n")
endif()
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")
# 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()
")
file(APPEND "$ENV{GITHUB_OUTPUT}" "environment_script=${_env_script}\n")
- 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()