continuous-integration.yml

name: opensim-application

on:
  schedule:
    - cron: '0 2 * * *'
  pull_request:
    branches:
      - '*'
  push:
    branches: 
      - main
    tags:
      - '*'

jobs:
  windows:
    name: Windows

    runs-on: windows-2019

    steps:
    - name: Checkout opensim-gui
      uses: actions/checkout@v3

    - name: Install SWIG
      run: |
        choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
        swig -swiglib
      
    - name: Install Python packages
      uses: actions/setup-python@v4
      with:
        python-version: '3.8'
        
    - name: Install NumPy 
      run: python3 -m pip install numpy==1.20.2

    - name: Set up JDK 1.8
      uses: actions/setup-java@v3
      with:
        distribution: 'temurin'
        java-version: 8

    - name: Install Netbeans 12.3
      # Make sure the NetBeans installer is not corrupted.
      run: |
        (New-Object System.Net.WebClient).DownloadFile("https://archive.apache.org/dist/netbeans/netbeans/12.3/Apache-NetBeans-12.3-bin-windows-x64.exe", "Apache-NetBeans-12.3-bin-windows-x64.exe")
        $expectedHash = "0695d87d9c72dcf3738672ba83eb273dda02066fa5eee80896cb6ccf79175840367a13d22ab3cb9838dffaa9a219dd1f73aee0e27c085e5310da2e3bbbc92b2c"
        $hashFromFile = Get-FileHash -Algorithm SHA512 -Path .\Apache-NetBeans-12.3-bin-windows-x64.exe
        if (($hashFromFile.Hash) -ne ($expectedHash)) { Write-Error "Hash doesn't match." }
        .\Apache-NetBeans-12.3-bin-windows-x64.exe --silent | Out-Null # This installer is gregarious.
        echo "ANT_HOME=C:\\Program Files\\NetBeans-12.0\\netbeans\\extide\\ant" >> $GITHUB_ENV
      
    - name: Checkout opensim-core main
      uses: actions/checkout@v3
      with:
         repository: opensim-org/opensim-core
         path: 'opensim-core'
    
    - name: Cache opensim-core-dependencies
      id: cache-dependencies
      uses: actions/cache@v3
      with:
        path: ~/opensim_dependencies_install
        # Every time a cache is created, it's stored with this key.
        # In subsequent runs, if the key matches the key of an existing cache,
        # then the cache is used. We chose for this key to depend on the
        # operating system and a hash of the hashes of all files in the
        # dependencies directory (non-recursive).
        # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
        key: ${{ runner.os }}-dependencies-${{ hashFiles('opensim-core/dependencies/*') }}

    - name: Build opensim-core-dependencies
      if: steps.cache-dependencies.outputs.cache-hit != 'true'
      run: |
        echo $env:GITHUB_WORKSPACE\\build_deps
        mkdir $env:GITHUB_WORKSPACE\\build_deps
        chdir $env:GITHUB_WORKSPACE\\build_deps
        # gci -r $env:GITHUB_WORKSPACE\\opensim-core
        # /W0 disables warnings. The other flags are copied from CMake's
        # default CMAKE_CXX_FLAGS.
        # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
        $env:CXXFLAGS = "/W0"
        cmake $env:GITHUB_WORKSPACE/opensim-core/dependencies -G"Visual Studio 16 2019" -A x64 -DSUPERBUILD_ezc3d:BOOL=on -DOPENSIM_WITH_CASADI:BOOL=on -DWIG_DIR=C:/ProgramData/chocolatey/lib/swig -DOPENSIM_WITH_TROPTER:BOOL=on -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.8.10\x64
        $env:CXXFLAGS = ""
        cmake . -LAH
        cmake --build . --config Release -- /maxcpucount:2 
        
    - name: Obtain opensim-core commit
      id: opensim-core-commit
      run: |
        cd opensim-core
        $opensim_core_commit=(git rev-parse HEAD)
        echo "hash=$opensim_core_commit" >> $GITHUB_OUTPUT

    - name: Cache opensim-core
      id: cache-core
      uses: actions/cache@v3
      with:
        path: ~/opensim-core-install
        # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
        key: ${{ runner.os }}-${{ steps.opensim-core-commit.outputs.hash }}
    
    - name: Build opensim-core
      # if: steps.cache-core.outputs.cache-hit != 'true'
      run: |
        echo $env:GITHUB_WORKSPACE\\build_core
        mkdir $env:GITHUB_WORKSPACE\\build_core
        chdir $env:GITHUB_WORKSPACE\\build_core
        $env:CXXFLAGS = "/W0"
        cmake $env:GITHUB_WORKSPACE/opensim-core -G"Visual Studio 16 2019" -A x64 -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DBUILD_JAVA_WRAPPING=on -DBUILD_PYTHON_WRAPPING=on -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=off -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.8.10\x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install
        cmake . -LAH
        cmake --build . --config Release -- /maxcpucount:2
        cmake --install .

    - name: Update submodules
      run: git submodule update --init --recursive -- opensim-models opensim-visualizer Gui/opensim/threejs
      
    - name: Build GUI
      id: build-gui
      run: |
        mkdir build
        cd build
        cmake ../ -G"Visual Studio 16 2019" -A x64 -DCMAKE_PREFIX_PATH=~/opensim-core-install -DANT_ARGS="-Dnbplatform.default.netbeans.dest.dir=C:/Program Files/NetBeans-12.3/netbeans;-Dnbplatform.default.harness.dir=C:/Program Files/NetBeans-12.3/netbeans/harness"
        cmake --build . --target CopyOpenSimCore --config Release
        cmake --build . --target CopyModels --config Release
        cmake --build . --target PrepareInstaller --config Release
        cmake --build . --target CopyJRE --config Release
        cmake --build . --target CopyVisualizer --config Release
        # Read the value of the cache variable storing the GUI build version.
        $env:match = cmake -L . | Select-String -Pattern OPENSIMGUI_BUILD_VERSION
        $VERSION = $env:match.split('=')[1]
        echo $VERSION
        echo "name=VERSION::$VERSION" >> $GITHUB_ENV
        echo "version=$VERSION" >> $env:GITHUB_OUTPUT
        
    - name: Build GUI installer
      run: |
        cd Gui/opensim/dist/installer
        makensis.exe make_installer.nsi
        mv OpenSim-${{ steps.build-gui.outputs.version }}-win64.exe $env:GITHUB_WORKSPACE
    - name: Upload GUI installer
      uses: actions/upload-artifact@v3
      with:
        name: OpenSim-${{ steps.build-gui.outputs.version }}-win64
        path: OpenSim-${{ steps.build-gui.outputs.version }}-win64.exe

  mac11:
    name: Mac11

    runs-on: macos-11

    steps:
    - name: Checkout opensim-gui
      uses: actions/checkout@v3

    - name: Checkout opensim-core main
      uses: actions/checkout@v3
      with:
         repository: opensim-org/opensim-core
         path: 'opensim-core'
         
    - uses: actions/setup-python@v4
      with:
        python-version: '3.8' 
        
    - name: Install packages
      run: |
        brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm
        brew reinstall gcc
        pip3 install numpy==1.20.2
        gfortran -v
        mkdir gfortran_version
        gfortran -v &> gfortran_version/gfortran_version.txt
    
    - name: Set up JDK 1.8
      uses: actions/setup-java@v3
      with:
        distribution: 'temurin'
        java-version: 8

    # - name: Setup tmate session to debug the workflow through SSH.
    #   uses: mxschmitt/action-tmate@v2
        
    - name: Install NetBeans 12.3
      # `brew cask install netbeans-java-se` requires sudo but brew won't allow sudo,
      # so we install NetBeans ourselves.
      # Note: Cask 'netbeans' gives version 11.2, while 'netbeans-java-se' gives 8.2.
      run: |
        # We remove JDKs newer than 8 to force the NetBeans installer to use JDK 8.
        # If using JDK 14, the NetBeans installer fails because it cannot find unpack200,
        # which was removed from the JDK. See:
        # https://netbeans.apache.org/download/nb113/nb113.html
        # "The installers will NOT run under JDK 14 because usage is made of the Pack200 
        # Tools and API, for packing and unpacking, which is removed in JDK 14, see JEP 367."
        sudo rm -rf /Library/Java/JavaVirtualMachines/zulu-14.jdk
        sudo rm -rf /Library/Java/JavaVirtualMachines/zulu-13.jdk
        sudo rm -rf /Library/Java/JavaVirtualMachines/zulu-12.jdk
        sudo rm -rf /Library/Java/JavaVirtualMachines/zulu-11.jdk
        sudo rm -rf /Library/Java/JavaVirtualMachines/adoptopenjdk-14.jdk
        sudo rm -rf /Library/Java/JavaVirtualMachines/adoptopenjdk-13.jdk
        sudo rm -rf /Library/Java/JavaVirtualMachines/adoptopenjdk-12.jdk
        sudo rm -rf /Library/Java/JavaVirtualMachines/adoptopenjdk-11.jdk
        /usr/libexec/java_home -V
        export JAVA_HOME=$(/usr/libexec/java_home -v 1.8)
        echo "JAVA_HOME=$JAVA_HOME" >> $GITHUB_ENV
        echo $JAVA_HOME
        wget https://archive.apache.org/dist/netbeans/netbeans/12.3/Apache-NetBeans-12.3-bin-macosx.dmg
        hdiutil attach Apache-NetBeans-12.3-bin-macosx.dmg
        sudo installer -pkg /Volumes/Apache\ NetBeans\ 12.3/Apache\ NetBeans\ 12.3.pkg -target /
        sudo -k

    - name: Cache opensim-core-dependencies
      id: cache-dependencies
      uses: actions/cache@v3
      with:
        path: ~/opensim_dependencies_install
        # Every time a cache is created, it's stored with this key.
        # In subsequent runs, if the key matches the key of an existing cache,
        # then the cache is used. We chose for this key to depend on the
        # operating system and a hash of the hashes of all files in the
        # dependencies directory (non-recursive).
        # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
        key: ${{ runner.os }}-dependencies-${{ hashFiles('opensim-core/dependencies/*') }}
        
    - name: Build opensim-core-dependencies
      if: steps.cache-dependencies.outputs.cache-hit != 'true'
      run: |
        mkdir build_deps
        cd build_deps
        cmake ../opensim-core/dependencies -DSUPERBUILD_ezc3d:BOOL=on  -DOPENSIM_WITH_CASADI:BOOL=on -DOPENSIM_WITH_TROPTER:BOOL=on -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DCMAKE_BUILD_TYPE=Release
        cmake . -LAH
        cmake --build . --config Release
        
    - name: Obtain opensim-core commit
      id: opensim-core-commit
      run: |
        cd opensim-core
        opensim_core_commit=$(git rev-parse HEAD)
        echo "hash=$opensim_core_commit" >> $GITHUB_OUTPUT
          
    - name: Cache opensim-core
      id: cache-core
      uses: actions/cache@v3
      with:
        path: ~/opensim-core-install
        key: ${{ runner.os }}-${{ steps.opensim-core-commit.outputs.hash }}
        
    - name: Install SWIG
      # if: steps.cache-swig.outputs.cache-hit != 'true'
      run: |
        mkdir ~/swig-source && cd ~/swig-source
        wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
        tar xzf v4.1.1.tar.gz && cd swig-4.1.1
        sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
        make && make -j4 install

    - name: Build opensim-core
      if: steps.cache-core.outputs.cache-hit != 'true'
      run: |
        mkdir build_core
        cd build_core
        cmake ../opensim-core -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DSWIG_EXECUTABLE=~/swig/bin/swig -DBUILD_JAVA_WRAPPING=on -DBUILD_PYTHON_WRAPPING=on -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=off -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_INSTALL_UNIX_FHS=OFF -DOPENSIM_DISABLE_LOG_FILE=ON
        cmake . -LAH
        cmake --build . --config Release 
        cmake --install .

    - name: Update submodules
      run: git submodule update --init --recursive -- opensim-models opensim-visualizer Gui/opensim/threejs

    - name: Build GUI
      id: build-gui
      run: |
        mkdir build
        cd build
        # TODO: Do not hard-code NetBeans version.
        # TODO: Could download from https://download.netbeans.org/netbeans/8.2/final/bundles/netbeans-8.2-javase-macosx.dmg
        # cmake ../ -DCMAKE_PREFIX_PATH=~/opensim-core -DANT_ARGS="-Dnbplatform.default.netbeans.dest.dir=/Applications/NetBeans/Apache NetBeans 12.3.app/Contents/Resources/NetBeans/netbeans;-Dnbplatform.default.harness.dir=/Applications/NetBeans/Apache NetBeans 12.3.app/Contents/Resources/NetBeans/netbeans/harness"
        cmake ../ -DCMAKE_PREFIX_PATH=~/opensim-core-install -DANT_ARGS="-Dnbplatform.default.netbeans.dest.dir=/Applications/NetBeans/Apache NetBeans 12.3.app/Contents/Resources/NetBeans/netbeans;-Dnbplatform.default.harness.dir=/Applications/NetBeans/Apache NetBeans 12.3.app/Contents/Resources/NetBeans/netbeans/harness"
        make CopyOpenSimCore
        make PrepareInstaller
        # Read the value of the cache variable storing the GUI build version.
        VERSION=`cmake -L . | grep OPENSIMGUI_BUILD_VERSION | cut -d "=" -f2`
        echo $VERSION
        echo "name=VERSION::$VERSION" >> $GITHUB_ENV
        echo "version=$VERSION" >> $GITHUB_OUTPUT
        cd $GITHUB_WORKSPACE
        ls Gui/opensim/dist
        mv Gui/opensim/dist/OpenSim-$VERSION.pkg $GITHUB_WORKSPACE

    - name: Upload GUI installer
      uses: actions/upload-artifact@v3
      with:
        name: OpenSim-${{ steps.build-gui.outputs.version }}-mac
        path: OpenSim-${{ steps.build-gui.outputs.version }}.pkg

  ubuntu:
    name: Ubuntu2004

    runs-on: ubuntu-20.04

    steps:

    - name: Checkout opensim-gui
      uses: actions/checkout@v3
      
    - name: Checkout opensim-core main
      uses: actions/checkout@v3
      with:
         repository: opensim-org/opensim-core
         path: 'opensim-core'
         
    - name: Install packages
      run: sudo apt-get update && sudo apt-get install --yes liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen python3 python3-dev python3-numpy python3-setuptools gfortran-7
     
    - name: Install SWIG
      if: steps.cache-swig.outputs.cache-hit != 'true'
      run: |
        mkdir ~/swig-source && cd ~/swig-source
        wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
        tar xzf v4.1.1.tar.gz && cd swig-4.1.1
        sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
        make && make -j4 install  
        
    - name: Set up JDK 1.8
      uses: actions/setup-java@v3
      with:
        distribution: 'temurin'
        java-version: 8

    - name: Cache Netbeans
      id: cache-netbeans
      uses: actions/cache@v3
      with:
        path: ~/netbeans-12.3
        key: netbeans-12.3

    - name: Download and Install Netbeans
      if: steps.cache-netbeans.outputs.cache-hit != 'true'
      run: |
        wget -q https://archive.apache.org/dist/netbeans/netbeans/12.3/Apache-NetBeans-12.3-bin-linux-x64.sh
        chmod 755 Apache-NetBeans-12.3-bin-linux-x64.sh
        ./Apache-NetBeans-12.3-bin-linux-x64.sh --silent
        ls $HOME/netbeans-12.3

    - name: Cache opensim-core-dependencies
      id: cache-dependencies
      uses: actions/cache@v3
      with:
        path: ~/opensim_dependencies_install
        # Every time a cache is created, it's stored with this key.
        # In subsequent runs, if the key matches the key of an existing cache,
        # then the cache is used. We chose for this key to depend on the
        # operating system and a hash of the hashes of all files in the
        # dependencies directory (non-recursive).
        # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
        key: ${{ runner.os }}-dependencies-${{ hashFiles('opensim-core/dependencies/*') }}

    - name: Build opensim-core-dependencies
      if: steps.cache-dependencies.outputs.cache-hit != 'true'
      run: |
        mkdir build_deps
        cd build_deps
        cmake ../opensim-core/dependencies -DSUPERBUILD_ezc3d:BOOL=on  -DOPENSIM_WITH_CASADI:BOOL=on -DOPENSIM_WITH_TROPTER:BOOL=on -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install
        cmake . -LAH
        cmake --build . --config Release
        
    - name: Obtain opensim-core commit
      id: opensim-core-commit
      run: |
        cd opensim-core
        opensim_core_commit=$(git rev-parse HEAD)
        echo "hash=$opensim_core_commit" >> $GITHUB_OUTPUT

    - name: Cache opensim-core
      id: cache-core
      uses: actions/cache@v3
      with:
        path: ~/opensim-core-install
        key: ${{ runner.os }}-${{ steps.opensim-core-commit.outputs.hash }}
    
    - name: Build opensim-core
      if: steps.cache-core.outputs.cache-hit != 'true'
      run: |
        mkdir build_core
        cd build_core
        cmake ../opensim-core -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DBUILD_JAVA_WRAPPING=on -DBUILD_PYTHON_WRAPPING=on -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=off -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_INSTALL_UNIX_FHS=OFF -DSWIG_DIR=~/swig/share/swig -DSWIG_EXECUTABLE=~/swig/bin/swig
        cmake . -LAH
        cmake --build . --config Release 
        cmake --install .

    - name: Remove opensim-core and swig
      run: |
        rm -r ~/swig-source
        rm -r $env:GITHUB_WORKSPACE\\build_core
      

    - name: Update submodules
      run: git submodule update --init --recursive -- opensim-models opensim-visualizer Gui/opensim/threejs

    - name: Build GUI
      id: build-gui
      run: |
        mkdir build
        cd build
        cmake ../ -DCMAKE_PREFIX_PATH=~/opensim-core-install -DANT_ARGS="-Dnbplatform.default.netbeans.dest.dir=$HOME/netbeans-12.3/netbeans;-Dnbplatform.default.harness.dir=$HOME/netbeans-12.3/netbeans/harness"
        make CopyOpenSimCore
        make PrepareInstaller
        # Read the value of the cache variable storing the GUI build version.
        VERSION=`cmake -L . | grep OPENSIMGUI_BUILD_VERSION | cut -d "=" -f2`
        echo $VERSION
        echo "name=VERSION::$VERSION" >> $GITHUB_ENV
        echo "version=$VERSION" >> $GITHUB_OUTPUT
        cd $GITHUB_WORKSPACE
        ls Gui/opensim/dist
        mv Gui/opensim/dist/OpenSim-$VERSION.tar.gz $GITHUB_WORKSPACE

    - name: Upload GUI installer
      uses: actions/upload-artifact@v3
      with:
        name: OpenSim-${{ steps.build-gui.outputs.version }}-ub20-linux
        path: OpenSim-${{ steps.build-gui.outputs.version }}.tar.gz