update cd pipeline #625
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| name: CI | |
| on: [push, pull_request] | |
| jobs: | |
| build: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, macos-latest, windows-latest] | |
| cmake_flags: ["", " -DBUILD_CLOUD_CLIENT=OFF "] | |
| include: | |
| - name: ubuntu-20.04-gcc-5 | |
| os: ubuntu-20.04 | |
| compiler: gcc | |
| version: 5 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Get cross-platform /dev/null for hidden output | |
| run: echo "HIDDEN=$(python3 -c "import os; print(os.devnull)")" >> $GITHUB_ENV | |
| - name: Install pybind11 | |
| run: | | |
| git clone https://github.com/pybind/pybind11.git | |
| cd pybind11 | |
| git checkout v2.11.1 | |
| - name: Set compiler version and patch C++11 | |
| if: matrix.name == 'ubuntu-20.04-gcc-5' | |
| run: | | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-5/gcc-5-base_5.5.0-12ubuntu1_amd64.deb | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/i/isl-0.18/libisl15_0.18-4_amd64.deb | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-5/cpp-5_5.5.0-12ubuntu1_amd64.deb | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-5/libasan2_5.5.0-12ubuntu1_amd64.deb | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-5/libmpx0_5.5.0-12ubuntu1_amd64.deb | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-5/libgcc-5-dev_5.5.0-12ubuntu1_amd64.deb | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-5/gcc-5_5.5.0-12ubuntu1_amd64.deb | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-5/libstdc++-5-dev_5.5.0-12ubuntu1_amd64.deb | |
| wget -c http://archive.ubuntu.com/ubuntu/pool/universe/g/gcc-5/g++-5_5.5.0-12ubuntu1_amd64.deb | |
| sudo apt install ./g++-5_5.5.0-12ubuntu1_amd64.deb ./gcc-5_5.5.0-12ubuntu1_amd64.deb ./gcc-5-base_5.5.0-12ubuntu1_amd64.deb ./cpp-5_5.5.0-12ubuntu1_amd64.deb ./libisl15_0.18-4_amd64.deb ./libgcc-5-dev_5.5.0-12ubuntu1_amd64.deb ./libasan2_5.5.0-12ubuntu1_amd64.deb ./libmpx0_5.5.0-12ubuntu1_amd64.deb ./libstdc++-5-dev_5.5.0-12ubuntu1_amd64.deb | |
| echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV | |
| echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV | |
| bash scripts/patch-c++11.sh inplace | |
| - name: Install valgrind | |
| if: matrix.os == 'ubuntu-latest' | |
| run: sudo apt-get update && sudo apt-get install -y valgrind | |
| - name: Configure and make | |
| run: | | |
| cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_MODULE=ON -DBUILD_EXAMPLES=ON -DBUILD_BENCHMARK=ON ${{ matrix.cmake_flags }} -DCMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE=. -DCMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE=. | |
| cmake --build build --config Release -j2 | |
| - name: Run C++ Examples | |
| working-directory: build | |
| run: | | |
| ./example-01_position > "$HIDDEN" | |
| ./example-02_position_offline > "$HIDDEN" | |
| ./example-05_velocity > "$HIDDEN" | |
| ./example-06_stop > "$HIDDEN" | |
| ./example-07_minimum_duration > "$HIDDEN" | |
| ./example-09_dynamic_dofs > "$HIDDEN" | |
| - name: Run Python Examples | |
| if: matrix.name != 'ubuntu-20.04-gcc-5' | |
| run: | | |
| python3 ./examples/01_position.py > "$HIDDEN" | |
| python3 ./examples/02_position_offline.py > "$HIDDEN" | |
| python3 ./examples/05_velocity.py > "$HIDDEN" | |
| python3 ./examples/06_stop.py > "$HIDDEN" | |
| python3 ./examples/07_minimum_duration.py > "$HIDDEN" | |
| env: | |
| PYTHONPATH: build | |
| - name: Test | |
| if: matrix.os == 'ubuntu-latest' | |
| run: | | |
| ./build/test-target 5000000 | |
| env: | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| - name: Memory Test | |
| if: matrix.os == 'ubuntu-latest' | |
| run: | | |
| ctest --test-dir ./build -T memcheck | |
| lint-python: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Lint Python | |
| run: | | |
| python3 -m pip install ruff | |
| ruff examples test |