docs: Using github actions to build docu

frankaemika · Sep 13, 2024 · 4e20c7e · 4e20c7e
1 parent 2bdcb96
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diff --git a/.github/workflows/doxygen.yml b/.github/workflows/doxygen.yml
@@ -0,0 +1,42 @@
+name: Generate Doxygen Documentation for libfranka
+
+on:
+  push:
+    tags:
+      - '*'
+
+jobs:
+  doxygen:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+
+    - name: Install Doxygen
+      run: sudo apt-get install doxygen graphviz -y
+
+    - name: Generate Doxygen configuration and build it
+      run: |
+        TAG_NAME=$(echo $GITHUB_REF | sed 's/refs\/tags\///')
+        mkdir -p build/doc/docs/$TAG_NAME && cd build && cmake -D BUILD_DOCUMENTATION=ON -D SKIP_CXX_BUILD=ON .. && make doc
+
+    - name: Move contents of html folder one level up
+      run: |
+        TAG_NAME=$(echo $GITHUB_REF | sed 's/refs\/tags\///')
+        mv build/doc/docs/$TAG_NAME/html/* build/doc/docs/$TAG_NAME/
+
+    - name: Create index.html for redirect
+      run: |
+        TAG_NAME=$(echo $GITHUB_REF | sed 's/refs\/tags\///')
+        URL="https://frankaemika.github.io/libfranka/${TAG_NAME}/"
+        echo $URL
+        echo "<html><head><meta http-equiv=\"refresh\" content=\"0; url=$URL\"></head></html>" > build/doc/docs/index.html
+
+    - name: Deploy to GitHub Pages
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_branch: gh-pages
+        publish_dir: build/doc/docs
+        keep_files: true
diff --git a/.travis.yml b/.travis.yml
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,9 +4,21 @@
 
 Requires Franka Research 3 system version >= 5.8.0
 
-- Joint/Cartesian Pose velocity and acceleration errors are minimized.
-- Joint position and cartesian pose examples can now start from the initial q or O_T_EE
-- Joint position and cartesian pose low-pass filters are fixed to use the same command in the first package.
+ * Joint/Cartesian Pose velocity and acceleration errors are minimized.
+ * Joint position and cartesian pose examples can now start from the initial q or O_T_EE
+ * Joint position and cartesian pose low-pass filters are fixed to use the same command in the first package.
+
+ * **Important**: The flags `fci_joint_motion_generator_position_limits_violation_flag` and `fci_cartesian_motion_generator_joint_position_limits_violation_flag` are now always set to false and will be deprecated in future releases. They will be replaced by joint_position_limits_violation.
+
+## 0.14.1 - 2024-09-06
+
+ * Added doxygen generation
+
+## 0.14.0 - 2024-03-26
+
+Requires Franka Research 3 system version >= 5.7.0
+
+ * Compute dynamic robot parameters with Pinocchio library.
 
 ## 0.13.5 - 2024-09-06
 
@@ -17,12 +29,6 @@ Requires Franka Research 3 system version >= 5.5.0
 
  * Added package.xml for ros humble release
 
-## 0.13.4 - 2024-03-26
-
-Requires Franka Research 3 system version >= 5.7.0
-
- * Compute dynamic robot parameters with Pinocchio library.
-
 ## 0.13.3 - 2024-01-18
 
 Requires Franka Research 3 system version >= 5.5.0

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -9,6 +9,16 @@ project(libfranka
   LANGUAGES CXX
 )
 
+option(BUILD_DOCUMENTATION "Build documentation" OFF)
+option(SKIP_CXX_BUILD "Skips the c++ build" OFF)
+if(BUILD_DOCUMENTATION)
+  add_subdirectory(doc)
+
+  if(SKIP_CXX_BUILD)
+    return()
+  endif()
+endif()
+
 list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 set(CMAKE_CXX_STANDARD 17)
@@ -190,11 +200,6 @@ if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
 
-option(BUILD_DOCUMENTATION "Build documentation" OFF)
-if(BUILD_DOCUMENTATION)
-  add_subdirectory(doc)
-endif()
-
 ## Packaging
 set(CPACK_PACKAGE_VENDOR "Franka Robotics GmbH")
 set(CPACK_GENERATOR "DEB;TGZ")

diff --git a/README.md b/README.md
@@ -1,6 +1,5 @@
 # libfranka: C++ library for Franka Robotics research robots
 
-[![Build Status][travis-status]][travis]
 [![codecov][codecov-status]][codecov]
 
 With this library, you can control research versions of Franka Robotics robots. See the [Franka Control Interface (FCI) documentation][fci-docs] for more information about what `libfranka` can do and how to set it up. The [generated API documentation][api-docs] also gives an overview of its capabilities.
@@ -10,9 +9,7 @@ With this library, you can control research versions of Franka Robotics robots.
 `libfranka` is licensed under the [Apache 2.0 license][apache-2.0].
 
 [apache-2.0]: https://www.apache.org/licenses/LICENSE-2.0.html
-[api-docs]: https://frankaemika.github.io/libfranka
+[api-docs]: https://frankaemika.github.io/libfranka/0.15.0
 [fci-docs]: https://frankaemika.github.io/docs
-[travis-status]: https://travis-ci.org/frankaemika/libfranka.svg?branch=master
-[travis]: https://travis-ci.org/frankaemika/libfranka
 [codecov-status]: https://codecov.io/gh/frankaemika/libfranka/branch/master/graph/badge.svg
 [codecov]: https://codecov.io/gh/frankaemika/libfranka
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
@@ -12,6 +12,10 @@ if(STRICT)
 else()
   set(DOXYGEN_WARN_AS_ERROR "NO")
 endif()
+
+# Create the directory for the output and configure the Doxyfile
+set(DOXYGEN_OUTPUT_PATH "docs/${PROJECT_VERSION}")
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${DOXYGEN_OUTPUT_PATH})
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${DOXYFILE} @ONLY)
 
 add_custom_target(doc ALL

diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
@@ -58,7 +58,7 @@ PROJECT_LOGO           = @CMAKE_CURRENT_SOURCE_DIR@/Logo_FRANKA_ROBOTICS_dark.pn
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       =
+OUTPUT_DIRECTORY       = "@DOXYGEN_OUTPUT_PATH@"
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and

diff --git a/package.xml b/package.xml
@@ -4,7 +4,7 @@
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>libfranka</name>
-  <version>0.14.0</version>
+  <version>0.15.0</version>
   <description>libfranka is a C++ library for Franka Robotics research robots</description>
   <maintainer email="support@franka.de">Franka Robotics GmbH</maintainer>
   <license>Apache 2.0</license>
@@ -29,4 +29,4 @@
   <export>
     <build_type>cmake</build_type>
   </export>
-</package>
+</package>