CI Workflow #1227
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| name: CI Workflow | |
| on: | |
| push: | |
| pull_request: | |
| workflow_dispatch: | |
| schedule: | |
| # * is a special character in YAML so you have to quote this string | |
| # Execute a "nightly" build at 2 AM UTC | |
| - cron: '0 2 * * *' | |
| jobs: | |
| check-style: | |
| name: 'Check Style' | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| - name: Install Dependencies | |
| run: | | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq -y perl | |
| - name: Check Style | |
| run: | | |
| perl tests/misc/check_style.pl | |
| check-license: | |
| name: 'Check License' | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| - name: Install Dependencies | |
| run: | | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq -y perl | |
| - name: Check License | |
| run: | | |
| perl tests/misc/check_license.pl | |
| check-tests: | |
| name: 'Check Devices Tests' | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| - 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 | |
| build: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}@${{ matrix.ros_distro }}@conda]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| ros_distro: [humble] | |
| os: [ubuntu-latest, macos-latest, windows-2019] | |
| fail-fast: false | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| - name: Dependencies | |
| shell: bash -l {0} | |
| run: | | |
| # Compilation related dependencies | |
| mamba install cmake compilers make ninja pkg-config | |
| # Actual dependencies | |
| mamba install -c conda-forge -c robostack-staging ycm-cmake-modules eigen ace ros-${{ matrix.ros_distro }}-ros-base ros-${{ matrix.ros_distro }}-test-msgs | |
| - name: Download YARP [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| - name: Dependencies from source [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| cd yarp | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \ | |
| -DYARP_COMPILE_TESTS:BOOL=ON \ | |
| -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON | |
| cmake --build . --config ${{ matrix.build_type }} | |
| cmake --install . --config ${{ matrix.build_type }} | |
| echo "YARP_DATA_DIRS=${CONDA_PREFIX}/share/yarp::${YARP_DATA_DIRS}" >> $GITHUB_ENV | |
| - name: Dependencies from source [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| cd yarp | |
| mkdir build | |
| cd build | |
| cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \ | |
| -DYARP_COMPILE_TESTS:BOOL=ON \ | |
| -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON | |
| cmake --build . --config ${{ matrix.build_type }} | |
| cmake --install . --config ${{ matrix.build_type }} | |
| echo "YARP_DATA_DIRS=${CONDA_PREFIX}/Library/share/yarp;${YARP_DATA_DIRS}" >> $GITHUB_ENV | |
| - name: Configure [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| # Python3_EXECUTABLE is set as a workaround for https://github.com/ros2/python_cmake_module/issues/6 | |
| cmake -GNinja -DBUILD_TESTING:BOOL=ON \ | |
| -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=OFF \ | |
| -DPython3_EXECUTABLE:PATH=$CONDA_PREFIX/bin/python3 \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} .. \ | |
| -DYARP_COMPILE_TESTS:BOOL=ON | |
| - name: Configure [Windows] | |
| if: contains(matrix.os, 'windows') | |
| # Command prompt is used as a workaround for https://github.com/RoboStack/ros-noetic/issues/21 | |
| shell: cmd /C CALL {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -G"Visual Studio 16 2019" -DBUILD_TESTING:BOOL=ON ^ | |
| -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=OFF ^ | |
| -DPython3_EXECUTABLE:PATH=%CONDA_PREFIX%\python.exe ^ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^ | |
| -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}\Library .. ^ | |
| -DYARP_COMPILE_TESTS:BOOL=ON | |
| - name: Build [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} | |
| - name: Test [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} | |
| - name: Build [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C CALL {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C CALL {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} | |
| - name: Test [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C CALL {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} | |
| build-valgrind: | |
| name: 'valgrind [ubuntu-latest@Debug@humble@conda]' | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| build_type: [Debug] | |
| ros_distro: [humble] | |
| os: [ubuntu-latest] | |
| fail-fast: false | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| - name: Dependencies | |
| shell: bash -l {0} | |
| run: | | |
| # Compilation related dependencies | |
| mamba install cmake compilers make ninja pkg-config | |
| # Actual dependencies | |
| sudo apt-get install -qq -y libc6-dbg | |
| mamba install -c conda-forge -c robostack-staging ycm-cmake-modules eigen valgrind ace ros-${{ matrix.ros_distro }}-ros-base ros-${{ matrix.ros_distro }}-test-msgs | |
| - name: Download YARP [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| - name: Dependencies from source [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| cd yarp | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \ | |
| -DYARP_COMPILE_TESTS:BOOL=ON \ | |
| -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON \ | |
| -DYARP_VALGRIND_TESTS:BOOL=ON | |
| cmake --build . --config ${{ matrix.build_type }} | |
| cmake --install . --config ${{ matrix.build_type }} | |
| echo "YARP_DATA_DIRS=${CONDA_PREFIX}/share/yarp::${YARP_DATA_DIRS}" >> $GITHUB_ENV | |
| - name: Configure [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| # Python3_EXECUTABLE is set as a workaround for https://github.com/ros2/python_cmake_module/issues/6 | |
| cmake -GNinja -DBUILD_TESTING:BOOL=ON \ | |
| -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=OFF \ | |
| -DPython3_EXECUTABLE:PATH=$CONDA_PREFIX/bin/python3 \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DYARP_VALGRIND_TESTS:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} .. \ | |
| -DYARP_COMPILE_TESTS:BOOL=ON | |
| - name: Build [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} | |
| - name: Test [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} |