conda-forge.yml

name: CI Workflow

on:
  workflow_dispatch:
  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 * * *'

jobs:
  build-with-conda-dependencies:
    name: '[conda:${{ matrix.os }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        build_type: [Release]
        os: [ubuntu-22.04, macos-latest, windows-2019]

    steps:
    - uses: actions/checkout@v4

    - name: Print used environment (no conda)
      shell: bash -l {0}
      run: |
        env

    - uses: mamba-org/setup-micromamba@v1
      with:
        environment-file: ci_env.yml

    # Additional dependencies useful only on Linux
    - name: Additional Dependencies (Linux)
      if: contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        # Additional dependencies only useful on Linux
        # See https://github.com/robotology/robotology-superbuild/issues/477
        micromamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64
        # Update package lists
        sudo apt-get update
        # See https://github.com/robotology/gz-yarp-plugins/pull/38#issuecomment-1681909589 for more info
        sudo apt install libgl1 libgl1-mesa-dri libselinux1 libxdamage1 libxxf86vm1 libxext6 libopengl0 libegl1

    - name: Configure VS Toolchain (Windows)
      if: contains(matrix.os, 'windows')
      uses: ilammy/msvc-dev-cmd@v1.12.1

    - name: Setup compilation env variables (Windows)
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        bash_vc_install=${VCToolsInstallDir//\\//}
        compiler_path=${bash_vc_install}bin/Hostx64/x64/cl.exe
        echo "CC=${compiler_path}" >> $GITHUB_ENV
        echo "CXX=${compiler_path}" >> $GITHUB_ENV

    - name: Print used environment
      shell: bash -l {0}
      run: |
        micromamba list
        env

    - name: Configure
      shell: bash -l {0}
      run: |
        mkdir -p build
        cd build    
        cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON ..

    - name: Build
      shell: bash -l {0}
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }} 

    - name: Test_ubuntu
      if: contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        cd build
        ctest -E "^LaserTest|^CameraTest" --repeat until-pass:5 --output-on-failure -C ${{ matrix.build_type }} . 
  
    - name: Test_macos
      if: contains(matrix.os, 'macos')
      shell: bash -l {0}
      run: |
        cd build
        # ImuTest is skipped due to https://github.com/robotology/gz-sim-yarp-plugins/issues/54
        ctest -E "^LaserTest|^CameraTest|^ImuTest|^ForceTorqueTest" --repeat until-pass:5 --output-on-failure -C ${{ matrix.build_type }} .

    - name: Install
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }} --target install