Extend Support for Mimic Joint #86
Workflow file for this run
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| name: CI - MacOS/Linux/Windows via Pixi | |
| on: | |
| schedule: | |
| - cron: '0 0 * * 1' | |
| push: | |
| paths-ignore: | |
| - doc/** | |
| - .gitlab-ci.yml | |
| - .gitignore | |
| - '*.md' | |
| - CITATION.* | |
| - COPYING.LESSER | |
| - colcon.pkg | |
| - .pre-commit-config.yaml | |
| - CHANGELOG.md | |
| - development/*.md | |
| pull_request: | |
| paths-ignore: | |
| - doc/** | |
| - .gitlab-ci.yml | |
| - .gitignore | |
| - '*.md' | |
| - CITATION.* | |
| - COPYING.LESSER | |
| - colcon.pkg | |
| - .pre-commit-config.yaml | |
| - CHANGELOG.md | |
| - development/*.md | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| pinocchio-pixi: | |
| name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }} | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CCACHE_BASEDIR: ${GITHUB_WORKSPACE} | |
| CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache | |
| CCACHE_COMPRESS: true | |
| CCACHE_COMPRESSLEVEL: 5 | |
| BUILD_ADVANCED_TESTING: ${{ matrix.BUILD_ADVANCED_TESTING }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, macos-latest, macos-13] | |
| environment: [all, all-py39] | |
| build_type: [Release, Debug] | |
| include: | |
| # Disable BUILD_ADVANCED_TESTING as the test can take many time to run | |
| - os: ubuntu-latest | |
| BUILD_ADVANCED_TESTING: OFF | |
| - os: macos-latest | |
| BUILD_ADVANCED_TESTING: OFF | |
| - os: macos-13 | |
| BUILD_ADVANCED_TESTING: OFF | |
| - os: windows-latest | |
| environment: all | |
| build_type: Release | |
| BUILD_ADVANCED_TESTING: OFF | |
| - os: windows-latest | |
| environment: all-clang-cl | |
| build_type: Release | |
| BUILD_ADVANCED_TESTING: OFF | |
| steps: | |
| # extract branch name or checkout devel branch for scheduled events | |
| - name: Get branch name or checkout devel | |
| shell: bash -el {0} | |
| run: | | |
| if [ "${{ github.event_name }}" == "schedule" ]; then | |
| echo "BRANCH_NAME=devel" >> $GITHUB_ENV | |
| echo "LABELS=build_all" >> $GITHUB_ENV | |
| else | |
| echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV | |
| fi | |
| - uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ env.BRANCH_NAME }} | |
| submodules: recursive | |
| - uses: actions/cache@v4 | |
| with: | |
| path: .ccache | |
| key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }} | |
| restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}- | |
| - uses: prefix-dev/[email protected] | |
| with: | |
| pixi-version: v0.33.0 | |
| cache: true | |
| environments: ${{ matrix.environment }} | |
| # Avoid filling all disk space with debug symbols | |
| - name: Setup CMAKE_TOOLCHAIN_FILE | |
| if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug') | |
| run: | | |
| echo "CMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake" >> "$GITHUB_ENV" | |
| - name: Get Compilation Flags | |
| id: get_labels | |
| uses: actions/github-script@v7 | |
| env: | |
| LABELS: ${{ env.LABELS }} | |
| with: | |
| script: | | |
| const script = require('./.github/workflows/scripts/get_compilation_flags.js'); | |
| await script({github, context, core}) | |
| result-encoding: string | |
| - name: Build Pinocchio [MacOS/Linux/Windows] | |
| shell: bash -el {0} | |
| env: | |
| CMAKE_BUILD_PARALLEL_LEVEL: 2 | |
| PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }} | |
| run: | | |
| # Launch configure but overwrite default options | |
| pixi run -e ${{ matrix.environment }} configure \ | |
| -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \ | |
| ${{ steps.get_labels.outputs.cmakeFlags }} | |
| pixi run -e ${{ matrix.environment }} cmake --build build --target all | |
| pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure | |
| pixi run -e ${{ matrix.environment }} cmake --install build | |
| - name: Uninstall Pinocchio | |
| shell: bash -el {0} | |
| run: | | |
| cmake --build build --target uninstall | |
| check: | |
| if: always() | |
| name: check-macos-linux-windows-pixi | |
| needs: | |
| - pinocchio-pixi | |
| runs-on: Ubuntu-latest | |
| steps: | |
| - name: Decide whether the needed jobs succeeded or failed | |
| uses: re-actors/alls-green@release/v1 | |
| with: | |
| jobs: ${{ toJSON(needs) }} |