CI #1430
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| name: CI | |
| on: | |
| push: | |
| pull_request: | |
| workflow_dispatch: | |
| inputs: | |
| push: | |
| description: 'If true, actually push to the specified branch specified in the branch option.' | |
| required: true | |
| default: 'false' | |
| branch: | |
| description: 'Branch of icub-models to which the action will push' | |
| required: true | |
| default: 'devel' | |
| 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 * * *' | |
| env: | |
| URDF_PARSER_PY_REPOSITORY_URL: "https://github.com/ros/urdf_parser_py.git" | |
| SIMMECHANICS_TO_URDF_REPOSITORY_URL: "https://github.com/robotology/simmechanics-to-urdf.git" | |
| DEPLOYMENT_REPOSITORY: "robotology/icub-models" | |
| TRIGGERING_BRANCH_VALID_FOR_DEPLOYMENT: "refs/heads/master" | |
| TRIGGERING_REPOSITORY_URL_VALID_FOR_DEPLOYMENT: "https://github.com/robotology/icub-model-generator.git" | |
| BOT_USER_NAME: "LOC2Bot" | |
| ICUB_MODELS_BRANCH: "devel" | |
| ICUB_MODELS_SOURCE_DIR: "/home/runner/work/icub-model-generator/icub-model-generator/icub-models" | |
| jobs: | |
| build: | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Change ICUB_MODELS_BRANCH if necessary | |
| shell: bash | |
| if: ${{ github.event_name == 'workflow_dispatch' }} | |
| run: | | |
| echo "ICUB_MODELS_BRANCH=${{ github.event.inputs.branch }}" >> $GITHUB_ENV | |
| # Print environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| shell: bash | |
| run: env | |
| # For all dependencies, we use fixed releases to avoid regression due to | |
| # changes in the dependencies. In particular, we use the latest released | |
| # version as of 16 Septembter 2019, except for some dependencies that use | |
| # specific commits, more details are provided in inline comments | |
| - name: Generate models | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install ruby libeigen3-dev libace-dev libtinyxml-dev libxml2-dev | |
| # Save the url of the repository and the user-name of the committ author | |
| export CURRENT_REPOSITORY_URL=`git remote get-url origin` | |
| # Start in the parent directory of icub-model-generator | |
| cd ${GITHUB_WORKSPACE} | |
| sudo apt-get install --assume-yes --force-yes python-lxml python-yaml python-numpy python-setuptools | |
| # probably python on the path return a python interpreter and the find_package(PythonInterp) in CMake another, | |
| # let's install both debian packages and pip packages to be sure | |
| sudo pip install lxml numpy pyyaml catkin_pkg | |
| # install urdf_parser_py and save the last commit SHA1 hash | |
| git clone $URDF_PARSER_PY_REPOSITORY_URL | |
| cd urdf_parser_py | |
| # workaround for https://github.com/robotology/simmechanics-to-urdf/issues/36 | |
| git checkout 31474b9baaf7c3845b40e5a9aa87d5900a2282c3 | |
| export URDF_PARSER_PY_COMMIT=`git rev-parse HEAD` | |
| sudo python setup.py install | |
| cd ${GITHUB_WORKSPACE} | |
| # install simmechanics-to-urdf and save the last commit SHA1 hash | |
| git clone $SIMMECHANICS_TO_URDF_REPOSITORY_URL | |
| cd simmechanics-to-urdf | |
| export SIMMECHANICS_TO_URDF_COMMIT=`git rev-parse HEAD` | |
| sudo python setup.py install | |
| cd ${GITHUB_WORKSPACE} | |
| # get C++ dependencies and save their last commit SHA1 hash | |
| # ycm | |
| git clone https://github.com/robotology/ycm.git | |
| cd ycm | |
| git checkout v0.12.0 | |
| mkdir build | |
| cd build | |
| cmake .. | |
| sudo cmake --build . --target install | |
| cd ${GITHUB_WORKSPACE} | |
| ## yarp | |
| git clone https://github.com/robotology/yarp.git | |
| cd yarp | |
| git checkout v3.4.0 | |
| export YARP_COMMIT=`git rev-parse HEAD` | |
| mkdir build | |
| cd build | |
| cmake -DCREATE_LIB_MATH:BOOL=OFF -DYARP_COMPILE_EXECUTABLES:BOOL=OFF .. | |
| sudo cmake --build . --target install | |
| cd ${GITHUB_WORKSPACE} | |
| ## idyntree | |
| git clone https://github.com/robotology/idyntree.git | |
| cd idyntree | |
| git checkout v2.0.0 | |
| export IDYNTREE_COMMIT=`git rev-parse HEAD` | |
| mkdir build | |
| cd build | |
| cmake .. | |
| sudo cmake --build . --target install | |
| cd ${GITHUB_WORKSPACE} | |
| # Prepare icub-model-generator build | |
| mkdir build | |
| cd build | |
| cmake -DICUB_MODELS_SOURCE_DIR=$ICUB_MODELS_SOURCE_DIR .. | |
| # Build and run | |
| make VERBOSE=1 | |
| ctest --output-on-failure | |
| # Clone icub-models repo | |
| git clone -b $ICUB_MODELS_BRANCH https://github.com/${DEPLOYMENT_REPOSITORY}.git ${ICUB_MODELS_SOURCE_DIR} | |
| # Delete files in iCub directory of icub-models, as they are the one meant to be generated automatically every time | |
| # See https://github.com/robotology/icub-models/issues/185 | |
| cd ${ICUB_MODELS_SOURCE_DIR} | |
| git rm -rf ./iCub | |
| # Generate new files | |
| cd ${GITHUB_WORKSPACE}/build | |
| cmake --build . --target copy-models-to-icub-models | |
| # Generate commit message | |
| echo "Automatic build. GitHub Actions build: $GITHUB_RUN_ID" >> ${GITHUB_WORKSPACE}/deploy_commit_message | |
| echo "icub-model-generator commit: robotology/icub-models-generator@$GITHUB_SHA" >> ${GITHUB_WORKSPACE}/deploy_commit_message | |
| echo "urdf_parser_py commit: ros/urdf_parser_py@$URDF_PARSER_PY_COMMIT" >> ${GITHUB_WORKSPACE}/deploy_commit_message | |
| echo "simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@$SIMMECHANICS_TO_URDF_COMMIT" >> ${GITHUB_WORKSPACE}/deploy_commit_message | |
| - name: Print generated models differences and add files | |
| run: | | |
| cd $ICUB_MODELS_SOURCE_DIR | |
| git diff | |
| # Add any new generated file | |
| git add --all | |
| git status | |
| - name: Commit models | |
| if: ${{ (github.event_name == 'push' && github.ref == env.TRIGGERING_BRANCH_VALID_FOR_DEPLOYMENT) || (github.event_name == 'workflow_dispatch' && github.event.inputs.push == 'true') }} | |
| run: | | |
| # See https://git-scm.com/book/en/v2/Git-Internals-Environment-Variables | |
| export GIT_COMMITTER_NAME="$(git --no-pager show -s --format='%cn' $GITHUB_SHA)" | |
| export GIT_AUTHOR_NAME="$(git --no-pager show -s --format='%an' $GITHUB_SHA)" | |
| export GIT_COMMITTER_EMAIL="$(git --no-pager show -s --format='%ce' $GITHUB_SHA)" | |
| export GIT_AUTHOR_EMAIL="$(git --no-pager show -s --format='%ae' $GITHUB_SHA)" | |
| echo "Commit committer is $GIT_COMMITTER_NAME (email: $GIT_COMMITTER_EMAIL)" | |
| echo "Commit author is $GIT_AUTHOR_NAME (email: $GIT_AUTHOR_EMAIL)" | |
| cd $ICUB_MODELS_SOURCE_DIR | |
| # See https://stackoverflow.com/a/32507305 | |
| git commit -a -F ${GITHUB_WORKSPACE}/deploy_commit_message || echo "No changes in the icub-models branch, so no commit was done." | |
| - name: Push models | |
| uses: ad-m/github-push-action@v0.6.0 | |
| if: ${{ (github.event_name == 'push' && github.ref == env.TRIGGERING_BRANCH_VALID_FOR_DEPLOYMENT) || (github.event_name == 'workflow_dispatch' && github.event.inputs.push == 'true') }} | |
| with: | |
| directory: ${{ env.ICUB_MODELS_SOURCE_DIR }} | |
| repository: ${{ env.DEPLOYMENT_REPOSITORY }} | |
| branch: ${{ env.ICUB_MODELS_BRANCH }} | |
| github_token: ${{ secrets.ICUB_MODELS_GENERATOR_TOKEN }} | |