Merge pull request #32 from GiulioRomualdi/fix/ci_windows

Add cache GitHub Action to cache dependency compiled from source
ami-iit · Mar 24, 2020 · 01edf9b · 01edf9b
2 parents 47101e0 + 8254136
commit 01edf9b
Showing 1 changed file with 55 additions and 26 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -8,6 +8,12 @@ on:
  # Execute a "nightly" build at 2 AM UTC
  - cron: '0 2 * * *'
 
+env:
+ vcpkg_robotology_TAG: v0.0.3
+ YCM_TAG: v0.11.0
+ YARP_TAG: 964bb26fa4791d83d72882711ea7509306248106
+ iDynTree_TAG: 0ee5f759a6fb3a6b6cfa9064779a9428440f8fc2
+ Catch2_TAG: v2.11.3
 
 jobs:
  build:
@@ -17,6 +23,7 @@ jobs:
  matrix:
  build_type: [Release]
  os: [ubuntu-latest, windows-latest, macOS-latest]
+ fail-fast: false
 
  steps:
  - uses: actions/checkout@master
@@ -40,8 +47,21 @@ jobs:
  - name: Dependencies [Windows]
  if: matrix.os == 'windows-latest'
  run: |
- git clone https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports C:/robotology-vcpkg-binary-ports
- vcpkg.exe --overlay-ports=C:/robotology-vcpkg-binary-ports install --triplet x64-windows ace libxml2 eigen3 ipopt-binary catch2
+ # 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
+ # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg
+ echo "::set-env name=VCPKG_INSTALLATION_ROOT::C:/robotology/vcpkg"
+
+ # Install Catch2
+ cd C:/robotology/vcpkg
+ ./vcpkg.exe install --triplet x64-windows catch2
 
  - name: Dependencies [macOS]
  if: matrix.os == 'macOS-latest'
@@ -56,18 +76,26 @@ jobs:
  libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev \
  libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python-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 }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-iDynTree-${{ env.iDynTree_TAG }}-catch2-${{ env.Catch2_TAG }}
+
+
  - name: Source-based Dependencies [Windows]
- if: matrix.os == 'windows-latest'
+ if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-latest'
  shell: bash
  run: |
  # YCM
  cd ${GITHUB_WORKSPACE}
- git clone https://github.com/robotology/ycm
+ git clone -b ${YCM_TAG} https://github.com/robotology/ycm
  cd ycm
  mkdir -p build
  cd build
  cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
- -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+ -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
 
  cmake --build . --config ${{ matrix.build_type }} --target INSTALL
 
@@ -76,10 +104,11 @@ jobs:
  cd ${GITHUB_WORKSPACE}
  git clone https://github.com/robotology/yarp
  cd yarp
+ git checkout ${YARP_TAG}
  mkdir -p build
  cd build
  cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
- -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+ -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
  cmake --build . --config ${{ matrix.build_type }} --target INSTALL
  # Workaround for https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports/issues/3
  export IPOPT_DIR=${VCPKG_INSTALLATION_ROOT}/installed/x64-windows
@@ -88,59 +117,60 @@ jobs:
  cd ${GITHUB_WORKSPACE}
  git clone https://github.com/robotology/iDynTree
  cd iDynTree
- git checkout devel
+ git checkout ${iDynTree_TAG}
  mkdir -p build
  cd build
  cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
- -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
+ -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
  -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
- -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+ -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
 
  cmake --build . --config ${{ matrix.build_type }} --target install
 
  - name: Source-based Dependencies [Ubuntu/macOS]
- if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
+ if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')
  shell: bash
  run: |
  # YCM
  cd ${GITHUB_WORKSPACE}
- git clone https://github.com/robotology/ycm
+ git clone -b ${YCM_TAG} https://github.com/robotology/ycm
  cd ycm
  mkdir -p build
  cd build
- cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+ cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
  cmake --build . --config ${{ matrix.build_type }} --target install
 
  # YARP
  cd ${GITHUB_WORKSPACE}
  git clone https://github.com/robotology/yarp
  cd yarp
+ git checkout ${YARP_TAG}
  mkdir -p build
  cd build
- cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+ cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
  cmake --build . --config ${{ matrix.build_type }} --target install
 
  # iDynTree
  cd ${GITHUB_WORKSPACE}
  git clone https://github.com/robotology/iDynTree
  cd iDynTree
- git checkout devel
+ git checkout ${iDynTree_TAG}
  mkdir -p build
  cd build
- cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
- -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+ cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+ -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
  cmake --build . --config ${{ matrix.build_type }} --target install
 
  - name: Source-based Dependencies [Ubuntu]
- if: matrix.os == 'ubuntu-latest'
+ if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'ubuntu-latest'
  shell: bash
  run: |
- git clone https://github.com/catchorg/Catch2.git
+ 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 \
- -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
+ cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
+ -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
  -DBUILD_TESTING=OFF ..
 
  cmake --build . --config ${{ matrix.build_type }} --target install
@@ -157,7 +187,7 @@ jobs:
  mkdir -p build
  cd build
  cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
- -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
+ -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
  -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
  -DBUILD_TESTING:BOOL=ON ..
 
@@ -167,7 +197,7 @@ jobs:
  run: |
  mkdir -p build
  cd build
- cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
+ cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
  -DBUILD_TESTING:BOOL=ON \
  -DBIPEDAL_LOCOMOTION_CONTROLLERS_RUN_Valgrind_tests:BOOL=ON ..
@@ -178,7 +208,7 @@ jobs:
  run: |
  mkdir -p build
  cd build
- cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
+ cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
  -DBUILD_TESTING:BOOL=ON ..
 
@@ -188,13 +218,12 @@ jobs:
  cd build
  # Attempt of fix for using YARP idl generators (that link ACE) in Windows
  # See https://github.com/robotology/idyntree/issues/569
- export PATH=$PATH:/d/a/bipedal-locomotion-controllers/bipedal-locomotion-controllers/install/bin:/c/vcpkg/installed/x64-windows/bin:/c/vcpkg/installed/x64-windows/debug/bin
+ export PATH=$PATH:/d/a/bipedal-locomotion-controllers/bipedal-locomotion-controllers/install/bin:/d/a/bipedal-locomotion-controllers/bipedal-locomotion-controllers/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=$PATH:/d/a/bipedal-locomotion-controllers/bipedal-locomotion-controllers/install/bin:/c/vcpkg/installed/x64-windows/bin:/c/vcpkg/installed/x64-windows/debug/bin
-
+ export PATH=$PATH:/d/a/bipedal-locomotion-controllers/bipedal-locomotion-controllers/install/bin:/d/a/bipedal-locomotion-controllers/bipedal-locomotion-controllers/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 }} .