Use GitHub actions (#14)

* [ci/packaging] Enable GitHub Actions

* [ci/macOS] Install gfortran as a cask dependency

* [ci] Rely on the fact that install-dependencies installs gfortran

Works around very strange bug on 16.04 runner

* [packaging] Correctly check debian/changelog

* [clang-format] Apply clang-format and add it to CI

* [ci] Upload documentation to gh-pages

* [packaging] Use correct repository before pushing to jrl-umi3218

* [README] Update README

.clang-format

@@ -0,0 +1,110 @@
+---
+Language:        Cpp
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlinesLeft: true
+AlignOperands:   true
+AlignTrailingComments: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Allman
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     120
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks: Regroup
+IncludeCategories:
+  - Regex:           '^(<mc_[a-z]*/)'
+    Priority:        1
+  - Regex:           '^(<Tasks/)'
+    Priority:        2
+  - Regex:           '^(<mc_rbdyn_urdf/)'
+    Priority:        3
+  - Regex:           '^(<RBDyn/)'
+    Priority:        4
+  - Regex:           '^(<SpaceVecAlg/)'
+    Priority:        5
+  - Regex:           '^(<sch-core/)'
+    Priority:        6
+  - Regex:           '^(<boost/)'
+    Priority:        7
+  - Regex:           '^(<(nanomsg|geos|.*_msgs|ros|tf2.*)/)'
+    Priority:        8
+  - Regex:           '.*'
+    Priority:        9
+IncludeIsMainRegex: '(Test)?$'
+IndentCaseLabels: true
+IndentPPDirectives: AfterHash
+IndentWidth:     2
+IndentWrappedFunctionNames: true
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 150
+PenaltyReturnTypeOnItsOwnLine: 300
+PointerAlignment: Middle
+RawStringFormats:
+  - Delimiter:       pb
+    Language:        TextProto
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: Never
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        2
+UseTab:          Never
+...
+

.clang-format-check.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+source .clang-format-common.sh
+
+out=0
+tmpfile=$(mktemp /tmp/clang-format-check.XXXXXX)
+for f in ${src_files}; do
+  $clang_format -style=file $f > $tmpfile
+  if ! [[ -z `diff $tmpfile $f` ]]; then
+    echo "Wrong formatting in $f"
+    out=1
+  fi
+done
+rm -f $tmpfile
+if [[ $out -eq 1 ]]; then
+  echo "You can run ./.clang-format-fix.sh to fix the issues locally, then commit/push again"
+fi
+exit $out

.clang-format-common.sh

@@ -0,0 +1,15 @@
+# This script is meant to be sourced from other scripts
+
+# Check for clang-format, prefer 6.0 if available
+if [[ -x "$(command -v clang-format-6.0)" ]]; then
+  clang_format=clang-format-6.0
+elif [[ -x "$(command -v clang-format)" ]]; then
+  clang_format=clang-format
+else
+  echo "clang-format or clang-format-6.0 must be installed"
+  exit 1
+fi
+
+# Find all source files in the project minus those that are auto-generated or we do not maintain
+src_files=`find src tests -type f \( -name '*.cpp' -or -name '*.h' \)`
+

.clang-format-fix.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+source .clang-format-common.sh
+
+for f in ${src_files}; do
+  $clang_format -style=file -i $f
+done

.github/workflows/build.yml

@@ -0,0 +1,83 @@
+name: CI of eigen-qld
+
+on:
+  push:
+    branches:
+      - '**'
+  pull_request:
+    branches:
+      - '**'
+
+jobs:
+
+  clang-format:
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+    - name: Install clang-format-6.0
+      run: |
+        sudo apt-get -qq update
+        sudo apt-get -qq remove clang-6.0 libclang1-6.0 libclang-common-6.0-dev libllvm6.0
+        sudo apt-get -qq install clang-format-6.0 clang-format
+    - name: Run clang-format-check
+      run: |
+        ./.clang-format-check.sh
+
+  build:
+    needs: clang-format
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-16.04, ubuntu-18.04, macos-latest, windows-latest]
+        build-type: [Debug, RelWithDebInfo]
+        compiler: [gcc, clang]
+        exclude:
+          # Only default compiler on macos-latest and windows-latest
+          - os: macos-latest
+            compiler: clang
+          - os: windows-latest
+            compiler: clang
+
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        submodules: recursive
+    - name: Install dependencies
+      uses: jrl-umi3218/github-actions/install-dependencies@master
+      with:
+        compiler: ${{ matrix.compiler }}
+        build-type: ${{ matrix.build-type }}
+        ubuntu: |
+          apt: cython cython3 python-nose python3-nose python-numpy python3-numpy python-coverage python3-coverage python-setuptools python3-setuptools libeigen3-dev doxygen doxygen-latex libboost-all-dev
+        macos: |
+          cask: gfortran
+          brew: eigen boost
+          pip: Cython coverage nose numpy
+        windows: |
+          pip: Cython coverage nose numpy
+          github:
+            - path: eigenteam/eigen-git-mirror
+              ref: 3.3.7
+        github: |
+          - path: jrl-umi3218/Eigen3ToPython
+    - name: Build and test
+      uses: jrl-umi3218/github-actions/build-cmake-project@master
+      with:
+        compiler: ${{ matrix.compiler }}
+        build-type: ${{ matrix.build-type }}
+    - name: Upload documentation
+      # Only run on master branch and for one configuration
+      if: matrix.os == 'ubuntu-18.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master'
+      uses: jrl-umi3218/github-actions/upload-documentation@master
+      with:
+        GH_USER: gergondet
+        GH_PAGES_TOKEN: ${{ secrets.GH_PAGES_TOKEN }}
+    - name: Slack Notification
+      if: failure()
+      uses: archive/github-actions-slack@master
+      with:
+        slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
+        slack-channel: '#ci'
+        slack-text: >
+          [eigen-qld] Build *${{ matrix.os }}/${{ matrix.build-type }}* failed on ${{ github.ref }}

.github/workflows/eigen-qld.recipe

@@ -0,0 +1,3 @@
+# git-build-recipe format 0.4 deb-version {debversion}+{time}+{git-commit}
+https://github.com/jrl-umi3218/eigen-qld @REF@
+run git submodule update --init

.github/workflows/package.yml

@@ -0,0 +1,148 @@
+name: Package eigen-qld
+
+# This workflow only runs when pushing to master or pushing a tag
+#
+# On master, it will:
+# - Build packages for selected Debian/Ubuntu distro
+# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact-head
+#
+# On tagged versions it will:
+# - Create a GitHub release draft
+# - Attach the sources to the release
+# - Build packages for selected Debian/Ubuntu distro
+# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact
+# - Finalize the release
+
+on:
+  push:
+    branches:
+      - master
+    tags:
+      - v*
+
+jobs:
+  # For a given tag vX.Y.Z, this checks:
+  # - set(PROJECT_VERSION X.Y.Z) in CMakeLists.txt
+  # - version X.Y.Z in debian/changelog
+  # If these checks fail, the tag is automatically deleted
+  #
+  # This job does not run on the master branch
+  check-tag:
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        submodules: recursive
+      if: github.ref != 'refs/heads/master'
+    - name: Check version coherency
+      run: |
+        set -x
+        export VERSION=`echo ${{ github.ref }} | sed -e 's@refs/tags/v@@'`
+        echo "::set-env name=REJECTION::PROJECT_VERSION in CMakeLists.txt does not match tag"
+        grep -q "set(PROJECT_VERSION ${VERSION})" CMakeLists.txt
+        echo "::set-env name=REJECTION::Upstream version in debian/changelog does not match tag"
+        head -n 1 debian/changelog | grep -q "eigen-qld (${VERSION}"
+        echo "::set-env name=REJECTION::"
+        export TAG=`echo ${{ github.ref }} | sed -e 's@refs/tags/@@'`
+        echo "::set-env name=RELEASE_TAG::${TAG}"
+      if: github.ref != 'refs/heads/master'
+    - name: Delete tag
+      run: |
+        set -x
+        curl --header 'authorization: Bearer ${{ secrets.GITHUB_TOKEN }}' -X DELETE https://api.github.com/repos/${{ github.repository }}/git/${{ github.ref }}
+      if: failure()
+    - name: Notify tag deletion
+      uses: archive/github-actions-slack@master
+      with:
+        slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
+        slack-channel: '#ci'
+        slack-text: >
+          Tag *${{ github.ref }}* in *${{ github.repository }}* was deleted:
+            ${{ env.REJECTION}}
+      if: failure()
+    - name: Create release
+      uses: jrl-umi3218/github-actions/create-release@master
+      with:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        tag: ${{ env.RELEASE_TAG }}
+      if: github.ref != 'refs/heads/master'
+  # This job build binary packages for Ubuntu
+  build-packages:
+    needs: check-tag
+    strategy:
+      fail-fast: false
+      matrix:
+        dist: [xenial, bionic, focal]
+        arch: [i386, amd64]
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+    - name: Prepare recipe
+      run: |
+        set -x
+        cp .github/workflows/eigen-qld.recipe /tmp/eigen-qld.recipe
+        export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+        sed -i "s#@REF@#${REF}#" /tmp/eigen-qld.recipe
+        if [ $REF == "master" ]
+        then
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-head"
+        else
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-release"
+        fi
+        echo "Prepared recipe"
+        echo "###############"
+        cat /tmp/eigen-qld.recipe
+    - name: Build package
+      uses: jrl-umi3218/github-actions/build-package@master
+      with:
+        dist: ${{ matrix.dist }}
+        arch: ${{ matrix.arch }}
+        recipe: /tmp/eigen-qld.recipe
+        other-mirrors: ${{ env.EXTRA_MIRROR }}
+        other-gpg-keys: "0x892EA6EE273707C6495A6FB6220D644C64666806"
+    - uses: actions/upload-artifact@v1
+      with:
+        name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+        path: /tmp/packages-${{ matrix.dist }}-${{ matrix.arch }}/
+  # This job upload binary packages for Ubuntu
+  upload-packages:
+    needs: build-packages
+    strategy:
+      max-parallel: 1
+      fail-fast: false
+      matrix:
+        dist: [xenial, bionic, focal]
+        arch: [i386, amd64]
+    runs-on: ubuntu-18.04
+    steps:
+    - name: Set upload parameters
+      run: |
+        export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+        if [ $REF == "master" ]
+        then
+          echo "::set-env name=BINTRAY_REPO::multi-contact-head"
+          echo "::set-env name=BINTRAY_VERSION::HEAD"
+        else
+          echo "::set-env name=BINTRAY_REPO::multi-contact-release"
+          echo "::set-env name=BINTRAY_VERSION::${REF}"
+        fi
+    - name: Download packages
+      uses: actions/download-artifact@v1
+      with:
+        name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+    - name: Upload
+      uses: jrl-umi3218/github-actions/upload-package@master
+      with:
+        dist: ${{ matrix.dist }}
+        arch: ${{ matrix.arch }}
+        subject: gergondet
+        repo: ${{ env.BINTRAY_REPO }}
+        package: |
+          name: eigen-qld
+          desc: "eigen-qld allows to use the QLD QP solver with the Eigen3 library"
+          licenses: [BSD 2-Clause]
+          vcs_url: https://github.com/jrl-umi3218/eigen-qld
+        version: ${{ env.BINTRAY_VERSION }}
+        path: packages-${{ matrix.dist }}-${{ matrix.arch }}
+        BINTRAY_API_KEY: ${{ secrets.BINTRAY_API_KEY }}
+        GPG_PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}

.gitmodules

@@ -1,6 +1,3 @@
 [submodule "cmake"]
 	path = cmake
 	url = https://github.com/jrl-umi3218/jrl-cmakemodules
-[submodule ".jrl-ci"]
-	path = .jrl-ci
-	url = https://github.com/jrl-umi3218/jrl-travis