Change license of repo to BSD-3-Clause #31
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| name: CI test | |
| on: | |
| push: | |
| env: | |
| iDynTree_TAG: ce1334ca4a3ef139f6fab72f767292b19c601e07 | |
| coinbrew_TAG: 3fc0806a430331615413701c11b3377ca2db0928 | |
| matiocpp_TAG: ed9b196360b8083c3eccd3348afa7969d3a4f1fa | |
| jobs: | |
| build: | |
| name: 'Build and testing' | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@master | |
| - name: Display environment variables | |
| shell: bash | |
| run: env | |
| # Remove apt repos that are known to break from time to time | |
| # See https://github.com/actions/virtual-environments/issues/323 | |
| - name: Remove broken apt repos | |
| run: | | |
| for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: System dependencies | |
| run: | | |
| sudo apt update | |
| # IPOPT dependencies | |
| sudo apt install make git wget tar patch dos2unix pkg-config gfortran liblapack-dev libblas-dev libopenblas-dev libmetis-dev | |
| # iDyntree dependencies | |
| sudo apt-get install build-essential cmake libeigen3-dev libxml2-dev libassimp-dev libirrlicht-dev | |
| #matioCpp dependencies | |
| sudo apt install libmatio-dev | |
| #FFMPEG dependencies | |
| sudo apt install ffmpeg libavcodec-dev libavformat-dev libavdevice-dev libavfilter-dev libswscale-dev libpostproc-dev | |
| #Xvfb, just to have a dummy screen | |
| sudo apt install xvfb | |
| #To zip the SavedVideos folder | |
| sudo apt install zip unzip | |
| - name: Coinbrew and Ipopt fetching | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| mkdir coin-or | |
| cd coin-or | |
| #coinbrew | |
| git clone https://github.com/coin-or/coinbrew | |
| cd coinbrew/ | |
| chmod u+x coinbrew | |
| - name: IPOPT installation | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/coin-or | |
| coinbrew/coinbrew fetch Ipopt --no-prompt | |
| coinbrew/coinbrew build Ipopt --prefix=install/ --no-prompt --tests none --verbosity=3 ADD_CFLAGS=-fopenmp ADD_FFLAGS=-fopenmp ADD_CXXFLAGS=-fopenmp | |
| - name: matioCpp installation | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/ami-iit/matio-cpp --depth 1 | |
| cd matio-cpp | |
| git checkout ${matiocpp_TAG} | |
| mkdir build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release ../ | |
| make install | |
| - name: iDynTree installation | |
| shell: bash -l {0} | |
| run: | | |
| export IPOPT_DIR=${GITHUB_WORKSPACE}/coin-or/install | |
| export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:${IPOPT_DIR}/lib/pkgconfig/ | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${IPOPT_DIR}/lib | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/idyntree --depth 1 | |
| cd idyntree | |
| git checkout ${iDynTree_TAG} | |
| mkdir build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release -DIDYNTREE_USES_IRRLICHT:BOOL=ON .. | |
| make install | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure | |
| shell: bash -l {0} | |
| run: | | |
| export IPOPT_DIR=${GITHUB_WORKSPACE}/coin-or/install | |
| export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:${IPOPT_DIR}/lib/pkgconfig/ | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${IPOPT_DIR}/lib | |
| mkdir build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON ../ | |
| - name: Build | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/build/ | |
| make | |
| - name: Test | |
| shell: bash | |
| run: | | |
| cd build/bin | |
| OMP_NUM_THREADS=1 xvfb-run ./SolverForComparisonsUnitTest | |
| - name: Zip SavedVideos | |
| shell: bash | |
| run: | | |
| cd build/ | |
| zip -r SavedVideos.zip SavedVideos | |
| - uses: actions/upload-artifact@v3 | |
| with: | |
| name: SavedVideos | |
| path: build/SavedVideos.zip | |