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C++ CI Workflow

C++ CI Workflow #1782

Workflow file for this run

name: C++ CI Workflow
on:
push:
pull_request:
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 * * *'
env:
osqp_TAG: v0.6.3
vcpkg_robotology_TAG: v0.0.3
Catch2_TAG: v2.13.9
# Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg
VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
# Test with different operating systems
jobs:
build:
name: '[${{ matrix.os }}@${{ matrix.build_type }}] [float:${{ matrix.float }}]'
runs-on: ${{ matrix.os }}
strategy:
matrix:
build_type: [Debug, Release]
os: [ubuntu-latest, macOS-latest, windows-latest]
float: [ON, OFF]
fail-fast: false
# operating system dependences
steps:
- uses: actions/checkout@master
# Print environment variables to simplify development and debugging
- name: Environment Variables
shell: bash
run: env
# ============
# DEPENDENCIES
# ============
# 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 [Ubuntu]
if: matrix.os == 'ubuntu-latest'
run: |
for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done
- name: Dependencies [Windows]
if: matrix.os == 'windows-latest'
run: |
# To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need
choco install -y wget unzip
# To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg
# that has been used to create the pre-compiled archive
cd C:/
md C:/robotology
md C:/robotology/vcpkg
wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${env:vcpkg_robotology_TAG}/vcpkg-robotology.zip
unzip vcpkg-robotology.zip -d C:/robotology/vcpkg
# Install Catch2
cd C:/robotology/vcpkg
./vcpkg.exe install --triplet x64-windows catch2
- name: Dependencies [macOS]
if: matrix.os == 'macOS-latest'
run: |
brew install eigen
- name: Dependencies [Ubuntu]
if: matrix.os == 'ubuntu-latest'
run: |
sudo apt-get update
sudo apt-get install git build-essential cmake libeigen3-dev valgrind
- name: Cache Source-based Dependencies
id: cache-source-deps
uses: actions/cache@v1
with:
path: ${{ github.workspace }}/install/deps
key: source-deps-${{ runner.os }}-${{ matrix.build_type }}-use-float-${{ matrix.float }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-osqp-${{ env.osqp_TAG }}-catch2-${{ env.Catch2_TAG }}
- name: Source-based Dependencies [Windows]
if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-latest'
shell: bash
run: |
# osqp
cd ${GITHUB_WORKSPACE}
git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp
cd osqp
mkdir -p build
cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
-DDFLOAT=${{ matrix.float }} \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
cmake --build . --config ${{ matrix.build_type }} --target INSTALL
- name: Source-based Dependencies [Ubuntu/macOS]
if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')
shell: bash
run: |
# osqp
cd ${GITHUB_WORKSPACE}
git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp
cd osqp
mkdir -p build
cd build
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
-DDFLOAT=${{ matrix.float }} ..
cmake --build . --config ${{ matrix.build_type }} --target install
# catch 2
git clone -b ${Catch2_TAG} https://github.com/catchorg/Catch2.git
cd Catch2
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
-DBUILD_TESTING=OFF ..
cmake --build . --config ${{ matrix.build_type }} --target install
# ===================
# CMAKE-BASED PROJECT
# ===================
- name: Configure [Windows]
if: matrix.os == 'windows-latest'
shell: bash
run: |
mkdir -p build
cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-DBUILD_TESTING:BOOL=ON ..
- name: Configure [Ubuntu]
if: matrix.os == 'ubuntu-latest'
shell: bash
run: |
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DBUILD_TESTING:BOOL=ON \
-DOSQPEIGEN_RUN_Valgrind_tests:BOOL=ON ..
- name: Configure [macOS]
if: matrix.os == 'macOS-latest'
shell: bash
run: |
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DBUILD_TESTING:BOOL=ON ..
- name: Build
shell: bash
run: |
cd build
export PATH=$PATH:/d/a/osqp-eigen/osqp-eigen/install/bin:/d/a/osqp-eigen/osqp-eigen/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
cmake --build . --config ${{ matrix.build_type }}
- name: Test
shell: bash
run: |
cd build
export PATH=$PATH:/d/a/osqp-eigen/osqp-eigen/install/bin:/d/a/osqp-eigen/osqp-eigen/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
ctest --output-on-failure -C ${{ matrix.build_type }} .