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add irteusg target, add linux-nox test on config.yml #617

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add irteusg target, add linux-nox test on config.yml #617

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13a18d9
irteus/Makefile: clean up irtc.c dependency, which is introduced in h…
k-okada Apr 29, 2022
913b9a9
irteus/Makefile: clean up Makefile code, fix dependencies
k-okada Apr 30, 2022
a5b2fbf
irteus/Makefile: add irteusg irteusx irteusgl target
k-okada Apr 30, 2022
4e38b17
irteus/Makefile: run compile_irtg.l with eusg
k-okada Apr 30, 2022
d5fc099
irteus/irtge.l, irteus/irtgl.l: move geo code to irtgeo.l for irteusg
k-okada Apr 30, 2022
d41326e
.github/workflows/config.yml: add linux-nox
k-okada Apr 30, 2022
a4cd5e4
***DEBUG***: comment out existing test for debug
k-okada Apr 30, 2022
08d4215
irtues/demo/*.l, irteus/test/*.l: fix demo/test for irteusg, check bo…
k-okada Apr 30, 2022
4f5312c
irteus/irtgeo.l, irteus/irtviewer.l: move objects, make-irtviewr, irt…
k-okada Apr 30, 2022
81118c6
irteus/Maekfile, irteus/irtext.l: enable to use irtimage in irteusg; …
k-okada Apr 30, 2022
e40fc35
irteus/Makefile* : clean up to use CC/CXX for cross compile
k-okada May 1, 2022
ec22631
irteus/PQP: cleanup Makfile, use CXX for cross compile
k-okada May 1, 2022
4c310e8
irteus: cleanup Makefile, check if JPEG/PQP installed
k-okada May 1, 2022
ecb5236
.github/workspace/config.yml: add test to check cross compile
k-okada May 1, 2022
908a594
irteus/Maekfile: update HAVE_BULLET logic, check with compile, for cr…
k-okada May 2, 2022
d808a80
irteus/Makefile: check if /usr/lib/$(shell $(CC) -dumpmachine)/libpq.…
k-okada May 2, 2022
cf5c59f
.github/workflows/config.yml: linux-nox-crosscompile: skip some tests.
k-okada May 2, 2022
3be2647
irteus/Makefile: compile irteus{x,gl} only if eus{x,gl} exists.
k-okada May 22, 2022
d7c3bca
Merge branch 'master' into support_nonx
k-okada May 31, 2022
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268 changes: 192 additions & 76 deletions .github/workflows/config.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,49 +8,50 @@ env:
DISPLAY: '0:0'

jobs:
linux:
strategy:
matrix:
include:
- DOCKER_IMAGE: ubuntu:trusty
- DOCKER_IMAGE: ubuntu:xenial
- DOCKER_IMAGE: ubuntu:bionic
- DOCKER_IMAGE: ubuntu:bionic
COLLISION_LIB: PQP
- DOCKER_IMAGE: ubuntu:bionic
COLLISION_LIB: BULLET
- DOCKER_IMAGE: ubuntu:focal
- DOCKER_IMAGE: debian:stretch
- DOCKER_IMAGE: osrf/ubuntu_armhf:trusty
- DOCKER_IMAGE: osrf/ubuntu_armhf:xenial
- DOCKER_IMAGE: osrf/ubuntu_arm64:trusty
- DOCKER_IMAGE: osrf/ubuntu_arm64:xenial
- DOCKER_IMAGE: arm64v8/ubuntu:bionic
- DOCKER_IMAGE: arm64v8/ubuntu:focal
- DOCKER_IMAGE: osrf/debian_arm64:stretch
fail-fast: false
# linux:
# strategy:
# matrix:
# include:
# - DOCKER_IMAGE: ubuntu:trusty
# - DOCKER_IMAGE: ubuntu:xenial
# - DOCKER_IMAGE: ubuntu:bionic
# - DOCKER_IMAGE: ubuntu:bionic
# COLLISION_LIB: PQP
# - DOCKER_IMAGE: ubuntu:bionic
# COLLISION_LIB: BULLET
# - DOCKER_IMAGE: ubuntu:focal
# - DOCKER_IMAGE: debian:stretch
# - DOCKER_IMAGE: osrf/ubuntu_armhf:trusty
# - DOCKER_IMAGE: osrf/ubuntu_armhf:xenial
# - DOCKER_IMAGE: osrf/ubuntu_arm64:trusty
# - DOCKER_IMAGE: osrf/ubuntu_arm64:xenial
# - DOCKER_IMAGE: arm64v8/ubuntu:bionic
# - DOCKER_IMAGE: arm64v8/ubuntu:focal
# - DOCKER_IMAGE: osrf/debian_arm64:stretch
# fail-fast: false

runs-on: ubuntu-18.04
timeout-minutes: 90
# runs-on: ubuntu-18.04
# timeout-minutes: 90

name: linux
# name: linux

# steps:
# - name: Checkout
# uses: actions/checkout@v2
# - name: Run test
# shell: bash
# run: |
# set -x
# export CI_SOURCE_PATH=$(pwd)
# export REPOSITORY_NAME=${PWD##*/}
# export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
# export TRAVIS_OS_NAME=linux
# export DOCKER_IMAGE=${{matrix.DOCKER_IMAGE}}
# if [[ "$DOCKER_IMAGE" == *"arm"* ]]; then sudo apt-get install -y -qq qemu-user-static git; fi
# if [[ "$DOCKER_IMAGE" == *"arm64v8"* ]]; then export QEMU_VOLUME="-v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static"; fi #
# echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
# docker run --rm $QEMU_VOLUME -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"

steps:
- name: Checkout
uses: actions/checkout@v2
- name: Run test
shell: bash
run: |
set -x
export CI_SOURCE_PATH=$(pwd)
export REPOSITORY_NAME=${PWD##*/}
export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
export TRAVIS_OS_NAME=linux
export DOCKER_IMAGE=${{matrix.DOCKER_IMAGE}}
if [[ "$DOCKER_IMAGE" == *"arm"* ]]; then sudo apt-get install -y -qq qemu-user-static git; fi
if [[ "$DOCKER_IMAGE" == *"arm64v8"* ]]; then export QEMU_VOLUME="-v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static"; fi #
echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
docker run --rm $QEMU_VOLUME -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"

catkin:
runs-on: ubuntu-18.04
Expand Down Expand Up @@ -121,56 +122,171 @@ jobs:
catkin config --install
catkin build -v -i --make-args VERBOSE=1

doc:
# test for non X11/GL environment, i.e. embedded environment
linux-nox:
runs-on: ubuntu-latest
container: ubuntu:20.04
timeout-minutes: 60

steps:
- name: Checkout
uses: actions/checkout@v2
- name: Checkout eus (on support_nonx, git install x11 lib, so auto-remove it)
shell: bash
run: |
set -xe
apt update -y -qq && apt install -y -qq git
git clone --branch support_nonx https://github.com/euslisp/EusLisp eus
apt purge -y -qq git
apt autoremove -y -qq
- name: Setup environmnet
shell: bash
run: |
set -xe
apt update -y -qq && apt install -y -qq make gcc g++ libjpeg-dev libpng-dev
dpkg --get-selections | egrep -e '(x11|gl)' || echo "OK" ## show selected X/GL
dpkg --get-selections | egrep -q -e '(x11|gl)' && exit 1 ## exit 1, when X/GL found
exit 0
- name: Compile eusg (on support_nonx)
shell: bash
run: |
set -xe
make bashrc.eus
source bashrc.eus
cd eus/lisp
ln -sf Makefile.$ARCHDIR Makefile
make eus0 eus1 eus2 eusg
- name: Compile irteusg
shell: bash
run: |
set -xe
source bashrc.eus
cd irteus
make irteusg
- name: Run test
shell: bash
run: |
set -x
sudo apt-get install -y -qq git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi pkg-config libbullet-dev
make
sudo apt-get install -y -qq texlive-binaries texlive-lang-cjk texlive-lang-japanese poppler-utils nkf latex2html
(source bashrc.eus; cd doc/; make pdf)
(source bashrc.eus; cd doc/; make html)

# fix eus/models for irteusg
sed -i 's/(send x:\*root\* :size)/#f\(1000\)/' eus/models/irt-all-*.l
sed -i '/\(send self :def-gl-vertices\)/ s/^/;/' eus/models/*.l
sed -i '/\(send self :make-collision-model-for-links\)/ s/^/;/' eus/models/*.l
source bashrc.eus
export EXIT_STATUS=0; for test_l in irteus/test/*.l; do irteusg $test_l; export TMP_EXIT_STATUS=$?; export EXIT_STATUS=`expr $TMP_EXIT_STATUS + $EXIT_STATUS`; done; [ $EXIT_STATUS == 0 ] || exit 1

osx:
runs-on: macos-latest
# test for cross sompile
linux-nox-crosscompile:
runs-on: ubuntu-latest
timeout-minutes: 60
steps:
- name: Checkout
uses: actions/checkout@v2
- name: Get brew cache directory
id: brew-cache
run: echo "::set-output name=dir::$(brew --cache)/downloads"
- name: Brew cache
uses: actions/cache@v2
with:
path: ${{ steps.brew-cache.outputs.dir }}
key: ${{ runner.os }}-${{ hashFiles('.github/workflows/Brewfile') }}
- name: Brew config
- name: Clone Euslisp and Setup environmnet
shell: bash
run: |
set -xe
git clone --branch support_nonx https://github.com/euslisp/EusLisp eus
sudo apt update -y -qq
# remove unused packages
sudo dpkg -r --force-depends nginx || echo "OK"
sudo apt purge -y -qq build-essential gcc-9 gcc-10 || echo "OK"
sudo apt purge -y -qq libldap-* || echo "OK"
sudo apt purge -y -qq libx11* x11* libgl1* libglx* || echo "OK"
sudo apt autoremove -y -qq || echo "OK"
# install deb environment
sudo apt install -y -qq make binutils-aarch64-linux-gnu gcc-aarch64-linux-gnu g++-aarch64-linux-gnu qemu-user-static
exit 0
- name: Check environmnet
shell: bash
run: |
cd .github/workflows/
brew config
set -xe
dpkg --get-selections | egrep -e '(cc|ld)' || echo "OK" ## show selected X/GL
dpkg --get-selections | egrep -e '(libpq|jpeg|png)' || echo "OK" ## show selected X/GL
dpkg --get-selections | egrep -e '(x11|gl)' || echo "OK" ## show selected X/GL
#dpkg --get-selections | egrep -q -e '(x11|gl)' && exit 1 ## exit 1, when X/GL found
exit 0
- name: Compile irteusg
shell: bash
run: |
set -xe
export TOPDIR=$(pwd)
export EUSDIR=$(pwd)/eus
export ARCHDIR=LinuxARM
export PATH=$EUSDIR/$ARCHDIR/bin:$EUSDIR/$ARCHDIR/lib:$PATH
export LD_LIBRARY_PATH=$EUSDIR/$ARCHDIR/lib:$EUSDIR/$ARCHDIR/bin:$LD_LIBRARY_PATH
export CC=aarch64-linux-gnu-gcc
export LD=aarch64-linux-gnu-ld
export AR=aarch64-linux-gnu-ar
export CXX=aarch64-linux-gnu-g++
export QEMU_LD_PREFIX=/usr/aarch64-linux-gnu/
cd $EUSDIR/lisp
ln -sf Makefile.Linux Makefile
CC=$CC LD=$LD make eus0 eus1 eus2 eusg
(cd $EUSDIR//test; CXX=$CXX make)
cd $TOPDIR/irteus
ARCHDIR=$ARCHDIR CC=$CC LD=$LD AR=$AR CXX=$CXX make irteusg
- name: Run test
shell: bash
run: |
set -x
export CI_SOURCE_PATH=$(pwd)
export REPOSITORY_NAME=${PWD##*/}
export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
export LC_CTYPE=C
echo insecure >> ~/.curlrc
export HOMEBREW_CURLRC=1
HOMEBREW_NO_AUTO_UPDATE=1 brew install coreutils
export PATH="/usr/local/opt/coreutils/libexec/gnubin:$PATH"
# since macos-11, we need to install GL/gl.h
HOMEBREW_NO_AUTO_UPDATE=1 brew install mesa-glu
./.travis-osx.sh
- name: Cleanup some brew downloads
run: cd ${{ steps.brew-cache.outputs.dir }} && ls -lsS | head -n 10 | awk '{ print $10 }' | xargs rm -rf
sed -i 's/(send x:\*root\* :size)/#f\(1000\)/' eus/models/irt-all-*.l
sed -i '/\(send self :def-gl-vertices\)/ s/^/;/' eus/models/*.l
sed -i '/\(send self :make-collision-model-for-links\)/ s/^/;/' eus/models/*.l
export EUSDIR=$(pwd)/eus
export ARCHDIR=LinuxARM
export PATH=$EUSDIR/$ARCHDIR/bin:$EUSDIR/$ARCHDIR/lib:$PATH
export LD_LIBRARY_PATH=$EUSDIR/$ARCHDIR/lib:$EUSDIR/$ARCHDIR/bin:$LD_LIBRARY_PATH
export QEMU_LD_PREFIX=/usr/aarch64-linux-gnu/
set -xe
export EXIT_STATUS=0; for test_l in irteus/test/*.l; do [[ $test_l =~ all-robots-objects.l|irteus-demo.l|matrix.l|rendering.l|test-collision.l|test-irt-motion.l ]] && continue; irteusg $test_l; export TMP_EXIT_STATUS=$?; export EXIT_STATUS=`expr $TMP_EXIT_STATUS + $EXIT_STATUS`; done; [ $EXIT_STATUS == 0 ] || exit 1

# doc:
# runs-on: ubuntu-latest
# timeout-minutes: 60

# steps:
# - name: Checkout
# uses: actions/checkout@v2
# - name: Run test
# shell: bash
# run: |
# set -x
# sudo apt-get install -y -qq git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi pkg-config libbullet-dev
# make
# sudo apt-get install -y -qq texlive-binaries texlive-lang-cjk texlive-lang-japanese poppler-utils nkf latex2html
# (source bashrc.eus; cd doc/; make pdf)
# (source bashrc.eus; cd doc/; make html)


# osx:
# runs-on: macos-latest
# timeout-minutes: 60
# steps:
# - name: Checkout
# uses: actions/checkout@v2
# - name: Get brew cache directory
# id: brew-cache
# run: echo "::set-output name=dir::$(brew --cache)/downloads"
# - name: Brew cache
# uses: actions/cache@v2
# with:
# path: ${{ steps.brew-cache.outputs.dir }}
# key: ${{ runner.os }}-${{ hashFiles('.github/workflows/Brewfile') }}
# - name: Brew config
# run: |
# cd .github/workflows/
# brew config
# - name: Run test
# shell: bash
# run: |
# set -x
# export CI_SOURCE_PATH=$(pwd)
# export REPOSITORY_NAME=${PWD##*/}
# export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
# export LC_CTYPE=C
# echo insecure >> ~/.curlrc
# export HOMEBREW_CURLRC=1
# HOMEBREW_NO_AUTO_UPDATE=1 brew install coreutils
# export PATH="/usr/local/opt/coreutils/libexec/gnubin:$PATH"
# # since macos-11, we need to install GL/gl.h
# HOMEBREW_NO_AUTO_UPDATE=1 brew install mesa-glu
# ./.travis-osx.sh
# - name: Cleanup some brew downloads
# run: cd ${{ steps.brew-cache.outputs.dir }} && ls -lsS | head -n 10 | awk '{ print $10 }' | xargs rm -rf
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