ci.yml

name: CI
on:
  push:
    branches:
      - master
  pull_request:
    branches:
      - master
  workflow_dispatch:
jobs:
  build-macos:
    name: Build
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os:
          - macos-14
    env:
      CCACHE_COMPRESS: true
      CCACHE_MAXSIZE: 500M
      CMAKE_C_COMPILER_LAUNCHER: ccache
      CMAKE_CXX_COMPILER_LAUNCHER: ccache
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
      - name: Set up tap
        run: brew tap roboticslibrary/rl
      - name: Update index
        run: brew update
      - name: Install dependencies
        run: >
          brew install
          boost
          bullet
          ccache
          cmake
          coin3d
          eigen
          fcl
          ninja
          nlopt
          ode
          pqp
          solid
      - name: Update environment variables
        run: |
          echo "CCACHE_BASEDIR=${{ runner.workspace }}" >> $GITHUB_ENV
          echo "CCACHE_DIR=${{ runner.workspace }}/.ccache" >> $GITHUB_ENV
      - name: Cache compiler
        uses: actions/cache@v4
        with:
          path: ${{ runner.workspace }}/.ccache
          key: ${{ matrix.os }}-ccache-${{ github.sha }}
          restore-keys: ${{ matrix.os }}-ccache-
      - name: Configure CMake
        run: cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S"${{ github.workspace }}" -B"${{ runner.workspace }}/rl-build"
      - name: Build
        working-directory: ${{ runner.workspace }}/rl-build
        run: cmake --build .
      - name: Test
        working-directory: ${{ runner.workspace }}/rl-build
        run: ctest --output-on-failure
      - name: Create archive
        working-directory: ${{ runner.workspace }}/rl-build
        run: cpack -G TXZ
      - name: Upload archive
        uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.os }}
          path: ${{ runner.workspace }}/rl-build/rl-*.tar.xz
  build-msvc:
    name: Build
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os:
          - windows-2019
          - windows-2022
        qt:
          - qt5
          - qt6
        include:
          - os: windows-2019
            toolset: 14.2
          - os: windows-2022
            toolset: 14.4
    env:
      CCACHE_COMPRESS: true
      CCACHE_MAXSIZE: 500M
      CMAKE_C_COMPILER_LAUNCHER: ccache
      CMAKE_CXX_COMPILER_LAUNCHER: ccache
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
      - name: Enable Developer Command Prompt
        uses: ilammy/msvc-dev-cmd@v1
      - name: Install dependencies
        working-directory: ${{ runner.workspace }}
        run: |
          curl -L https://github.com/roboticslibrary/rl-3rdparty/releases/download/latest/rl-3rdparty-msvc-${{ matrix.toolset }}-x64-${{ matrix.qt }}.7z -o rl-3rdparty.7z
          7z x rl-3rdparty.7z -orl-3rdparty-install
          Write-Output "CMAKE_PREFIX_PATH=${{ runner.workspace }}\rl-3rdparty-install" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append
          Write-Output "${{ runner.workspace }}\rl-3rdparty-install\bin" | Out-File -FilePath $Env:GITHUB_PATH -Encoding utf8 -Append
      - name: Install ccache
        working-directory: ${{ runner.workspace }}
        run: |
          curl -L https://github.com/ccache/ccache/releases/download/v4.10.2/ccache-4.10.2-windows-x86_64.zip -o ccache-4.10.2-windows-x86_64.zip
          7z x ccache-4.10.2-windows-x86_64.zip
          Write-Output "${{ runner.workspace }}\ccache-4.10.2-windows-x86_64" | Out-File -FilePath $Env:GITHUB_PATH -Encoding utf8 -Append
      - name: Update environment variables
        run: |
          Write-Output "CCACHE_BASEDIR=${{ runner.workspace }}" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append
          Write-Output "CCACHE_DIR=${{ runner.workspace }}\.ccache" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append
      - name: Cache compiler
        uses: actions/cache@v4
        with:
          path: ${{ runner.workspace }}/.ccache
          key: ${{ matrix.os }}-msvc-${{ matrix.toolset }}-${{ matrix.qt }}-ccache-${{ github.sha }}
          restore-keys: ${{ matrix.os }}-msvc-${{ matrix.toolset }}-${{ matrix.qt }}-ccache-
      - name: Configure CMake
        run: cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S"${{ github.workspace }}" -B"${{ runner.workspace }}/rl-build"
      - name: Build
        working-directory: ${{ runner.workspace }}/rl-build
        run: cmake --build .
      - name: Test
        working-directory: ${{ runner.workspace }}/rl-build
        run: ctest --output-on-failure
      - name: Create archive
        working-directory: ${{ runner.workspace }}/rl-build
        run: cpack -G 7Z
      - name: Upload archive
        uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.os }}-msvc-${{ matrix.toolset }}-${{ matrix.qt }}
          path: ${{ runner.workspace }}/rl-build/rl-*.7z
  build-msys2:
    name: Build
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os:
          - windows-2022
        sys:
          - ucrt64
    env:
      CCACHE_COMPRESS: true
      CCACHE_MAXSIZE: 500M
      CMAKE_C_COMPILER_LAUNCHER: ccache
      CMAKE_CXX_COMPILER_LAUNCHER: ccache
    defaults:
      run:
        shell: msys2 {0}
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
      - name: Set up MSYS2
        uses: msys2/setup-msys2@v2
        with:
          msystem: ${{matrix.sys}}
          pacboy: >-
            boost:p
            bullet:p
            ccache:p
            cmake:p
            coin:p
            eigen3:p
            libxml2:p
            libxslt:p
            ninja:p
            nlopt:p
            ode:p
            pqp:p
            solid3:p
            soqt:p
            toolchain:p
          update: true
      - name: Update environment variables
        run: |
          echo "CCACHE_BASEDIR=${{ runner.workspace }}" >> $GITHUB_ENV
          echo "CCACHE_DIR=${{ runner.workspace }}/.ccache" >> $GITHUB_ENV
      - name: Cache compiler
        uses: actions/cache@v4
        with:
          path: ${{ runner.workspace }}/.ccache
          key: ${{ matrix.os }}-msys2-${{ matrix.sys }}-ccache-${{ github.sha }}
          restore-keys: ${{ matrix.os }}-msys2-${{ matrix.sys }}-ccache-
      - name: Configure CMake
        run: cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S"${{ github.workspace }}" -B"${{ runner.workspace }}/rl-build"
      - name: Build
        working-directory: ${{ runner.workspace }}/rl-build
        run: cmake --build .
      - name: Test
        working-directory: ${{ runner.workspace }}/rl-build
        run: ctest --output-on-failure
      - name: Create archive
        working-directory: ${{ runner.workspace }}/rl-build
        run: cpack -G TXZ
      - name: Upload archive
        uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.os }}-msys2-${{ matrix.sys }}
          path: ${{ runner.workspace }}/rl-build/rl-*.tar.xz
  build-ubuntu:
    name: Build
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os:
          - ubuntu-22.04
        compiler:
          - cc: clang
            cxx: clang++
          - cc: gcc
            cxx: g++
    env:
      CC: ${{ matrix.compiler.cc }}
      CCACHE_COMPRESS: true
      CCACHE_MAXSIZE: 500M
      CMAKE_C_COMPILER_LAUNCHER: ccache
      CMAKE_CXX_COMPILER_LAUNCHER: ccache
      CXX: ${{ matrix.compiler.cxx }}
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
      - name: Set up PPA
        run: |
          sudo apt-get install -y software-properties-common
          sudo apt-add-repository -y -u ppa:roblib/ppa
      - name: Update index
        run: sudo apt-get update
      - name: Install dependencies
        run: >
          sudo apt-get install -y
          build-essential
          ccache
          clang
          cmake
          libboost-dev
          libbullet-dev
          libcomedi-dev
          libdc1394-dev
          libeigen3-dev
          libfcl-dev
          libnlopt-dev
          libode-dev
          libpqp-dev
          libsimage-dev
          libsolid3d-dev
          libsoqt-dev
          libxml2-dev
          libxslt1-dev
          ninja-build
      - name: Update environment variables
        run: |
          echo "CCACHE_BASEDIR=${{ runner.workspace }}" >> $GITHUB_ENV
          echo "CCACHE_DIR=${{ runner.workspace }}/.ccache" >> $GITHUB_ENV
      - name: Cache compiler
        uses: actions/cache@v4
        with:
          path: ${{ runner.workspace }}/.ccache
          key: ${{ matrix.os }}-${{ matrix.compiler.cc }}-ccache-${{ github.sha }}
          restore-keys: ${{ matrix.os }}-${{ matrix.compiler.cc }}-ccache-
      - name: Configure CMake
        run: cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S"${{ github.workspace }}" -B"${{ runner.workspace }}/rl-build"
      - name: Build
        working-directory: ${{ runner.workspace }}/rl-build
        run: cmake --build .
      - name: Test
        working-directory: ${{ runner.workspace }}/rl-build
        run: ctest --output-on-failure
      - name: Create archive
        working-directory: ${{ runner.workspace }}/rl-build
        run: cpack -G TXZ
      - name: Upload archive
        uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.os }}-${{ matrix.compiler.cc }}
          path: ${{ runner.workspace }}/rl-build/rl-*.tar.xz