C++ CI Workflow #1776
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| 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 }} . |