ci.yml

name: C++ CI Workflow

# template derived from https://github.com/robotology/how-to-export-cpp-library/tree/master/.github/workflows
# and https://github.com/robotology/idyntree/blob/master/.github/workflows/ci.yml

on:
    push:
    pull_request:
    schedule:
    # run a cron job for a nightly build
    # * is a special character in YAML so you have to quote this string
    # Execute a "nightly" build at 2 AM UTC
    - cron: '0 2 * * *'

env:
    YCM_TAG: v0.15.3
    YARP_TAG: v3.8.1
    iDynTree_TAG: v9.1.0
    matioCpp_TAG: v0.2.4
    robometry_TAG: v1.2.1

jobs:
    build:
        name: '[${{matrix.os}}@${{matrix.build_type}}]'
        runs-on: ${{matrix.os}}
        strategy:
            matrix:
                build_type: [Release]
                os: [ubuntu-latest, windows-latest, macOS-latest]
            fail-fast: false

        steps:
        # Clone the repository in $GITHUB_WORKSPACE
        - uses: actions/checkout@master

        - uses: mamba-org/setup-micromamba@v1
          if: matrix.os == 'windows-latest' || matrix.os == 'macOS-latest'
          with:
            environment-file: ci_env.yml

        # Print the environment variables to simplify development and debugging
        - name: Environment Variables
          if: matrix.os == 'ubuntu-latest'
          # Use bash  in order to have same basic commands in all OSs
          shell: bash
          run: env

        # ============
        # DEPENDENCIES
        # ============

        - name: Dependencies [Ubuntu]
          if: matrix.os == 'ubuntu-latest'
          run: |
            sudo apt update
            sudo apt install git build-essential cmake libace-dev coinor-libipopt-dev  libboost-system-dev libboost-filesystem-dev \
                             libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \
                             libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev python3-pybind11 valgrind libassimp-dev libmatio-dev


        - name: Source-based Dependencies [Ubuntu]
          if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest')
          shell: bash
          run: |
            # YCM
            cd ${GITHUB_WORKSPACE}
            git clone -b ${YCM_TAG} https://github.com/robotology/ycm
            cd ycm
            mkdir -p build
            cd build
            cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
            cmake --build . --config ${{matrix.build_type}} --target install

            # YARP
            cd ${GITHUB_WORKSPACE}
            git clone https://github.com/robotology/yarp
            cd yarp
            git checkout ${YARP_TAG}
            mkdir -p build
            cd build
            cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
            cmake --build . --config ${{matrix.build_type}} --target install

            # iDynTree
            cd ${GITHUB_WORKSPACE}
            git clone https://github.com/robotology/iDynTree
            cd iDynTree
            git checkout ${iDynTree_TAG}
            mkdir -p build
            cd build
            cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
            cmake --build . --config ${{matrix.build_type}} --target install

            # matioCpp
            cd ${GITHUB_WORKSPACE}
            git clone https://github.com/dic-iit/matio-cpp
            cd matio-cpp
            git checkout ${matioCpp_TAG}
            mkdir -p build
            cd build
            cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
            cmake --build . --config ${{matrix.build_type}} --target install

            # robometry
            cd ${GITHUB_WORKSPACE}
            git clone https://github.com/robotology/robometry
            cd robometry
            git checkout ${robometry_TAG}
            mkdir -p build
            cd build
            cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
            cmake --build . --config ${{matrix.build_type}} --target install

        # ===================
        # CMAKE-BASED PROJECT
        # ===================
        # We will just configure and build the project now. Further modifications and tests can be added
        # Configure step
        - name: Configure [Windows]
          if: matrix.os == 'windows-latest'
          shell: bash -l {0}
          run: |
            mkdir -p build
            cd build
            cmake -G"Visual Studio 17 2022" -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                                            -DCMAKE_BUILD_TPYE=${{matrix.build_type}} \
                                            -DWEARABLES_COMPILE_PYTHON_BINDINGS=ON \
                                            -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..

        - name: Configure [Ubuntu/macOS]
          if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
          shell: bash -l {0}
          run: |
            mkdir -p build
            cd build
            cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                  -DCMAKE_BUILD_TPYE=${{matrix.build_type}} \
                  -DWEARABLES_COMPILE_PYTHON_BINDINGS=ON \
                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..

        # Build step
        - name: Build
          shell: bash
          run: |
            cd build
            cmake --build . --config ${{matrix.build_type}}