From c97ed8dd281cb5ff9af0bf5641c99b21b924be71 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Thu, 22 Apr 2021 17:11:58 +0200
Subject: [PATCH 1/3] Add conda-based Continuous Integration

---
 .github/workflows/conda-ci.yml | 66 ++++++++++++++++++++++++++++++++++
 1 file changed, 66 insertions(+)
 create mode 100644 .github/workflows/conda-ci.yml

diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
new file mode 100644
index 0000000..1c790c0
--- /dev/null
+++ b/.github/workflows/conda-ci.yml
@@ -0,0 +1,66 @@
+name: C++ CI Workflow with conda dependencies
+
+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 * * *'
+
+jobs:
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-latest, macos-latest]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        mamba-version: "*"
+        channels: conda-forge,defaults
+        channel-priority: true
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install -c robotology yarp icub-main gazebo icub-contrib-common qt opencv
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DBUILD_TESTING:BOOL=ON \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Test
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}

From 0cf93358a038463dd5fe5925cee397fff0e7fbf7 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Thu, 22 Apr 2021 17:20:48 +0200
Subject: [PATCH 2/3] Update conda-ci.yml

---
 .github/workflows/conda-ci.yml | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
index 1c790c0..bc33323 100644
--- a/.github/workflows/conda-ci.yml
+++ b/.github/workflows/conda-ci.yml
@@ -34,6 +34,16 @@ jobs:
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
         mamba install -c robotology yarp icub-main gazebo icub-contrib-common qt opencv
+    
+    # Additional dependencies useful only on Linux when using Qt
+    - name: Dependencies [Conda/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
+        mamba install expat-cos6-x86_64 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 mesalib mesa-libgl-cos6-x86_64
+
 
     - name: Configure [Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')

From 80bb8eaf8fe57c5f7efb73da5af27242a77ad004 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Thu, 22 Apr 2021 17:49:20 +0200
Subject: [PATCH 3/3] Add target_link_directories GAZEBO_LIBRARY_DIRS to
 library that uses Gazebo

---
 demoRedBall/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/demoRedBall/CMakeLists.txt b/demoRedBall/CMakeLists.txt
index b537216..c683e1d 100644
--- a/demoRedBall/CMakeLists.txt
+++ b/demoRedBall/CMakeLists.txt
@@ -28,6 +28,7 @@ if (GAZEBO_FOUND)
     add_library(${PROJECT_NAME}-world SHARED src/world.cpp)
     target_compile_definitions(${PROJECT_NAME}-world PRIVATE _USE_MATH_DEFINES)
     target_include_directories(${PROJECT_NAME}-world PRIVATE ${GAZEBO_INCLUDE_DIRS})
+    target_link_directories(${PROJECT_NAME}-world PRIVATE ${GAZEBO_LIBRARY_DIRS})
     target_link_libraries(${PROJECT_NAME}-world PRIVATE ${GAZEBO_LIBRARIES} ${YARP_LIBRARIES})
     install(TARGETS ${PROJECT_NAME}-world LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib)
     add_subdirectory(gazebo)