Continuous Integration #1247
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name: Continuous Integration | |
on: | |
push: | |
branches: | |
- 'master' | |
- 'feat/**' | |
- 'fix/**' | |
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 }}]' | |
runs-on: ${{ matrix.os }} | |
strategy: | |
matrix: | |
build_type: [Release, Debug] | |
os: [ubuntu-latest, windows-latest] | |
yarp: [true, false] | |
steps: | |
- uses: actions/checkout@master | |
- name: Set up environment variables [Windows] | |
if: matrix.os == 'windows-latest' | |
shell: bash | |
run: | | |
# the following fix the problem described in https://github.saobby.my.eu.orgmunity/t5/GitHub-Actions/Windows-tests-worked-yesterday-broken-today/m-p/43839#M5530 | |
echo "C:\Program Files\Git\bin" >> ${GITHUB_PATH} | |
echo "VCPKG_ROBOTOLOGY_ROOT=C:/robotology/vcpkg" >> ${GITHUB_ENV} | |
- name: Display environment variables | |
shell: bash | |
run: env | |
# Remove apt repos that are known to break from time to time | |
# See https://github.com/actions/virtual-environments/issues/323 | |
- name: Remove broken apt repos [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
run: | | |
for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
# ============ | |
# DEPENDENCIES | |
# ============ | |
- name: Dependencies [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
run: | | |
sudo apt update | |
sudo apt install libboost-all-dev git build-essential clang valgrind cmake \ | |
libmatio-dev libtinyxml-dev \ | |
libace-dev libeigen3-dev | |
- name: Dependencies [Windows] | |
if: matrix.os == 'windows-latest' | |
shell: bash | |
run: | | |
choco install -y curl wget unzip | |
echo "Installing latest robotology-superbuild-dependencies-vcpkg" | |
cd C:/ | |
wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest/download/vcpkg-robotology.zip | |
unzip vcpkg-robotology.zip -d C:/ | |
rm vcpkg-robotology.zip | |
- name: Source-based Dependencies [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
shell: bash | |
run: | | |
# YCM | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/ycm.git --depth 1 --branch master | |
cd ycm && mkdir -p build && cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
cmake --build . --config ${{ matrix.build_type }} --target install | |
if ${{matrix.yarp}}; then | |
# yarp | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/yarp.git --depth 1 --branch yarp-3.6 | |
cd yarp && mkdir -p build && cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
cmake --build . --config ${{ matrix.build_type }} --target install | |
fi | |
# matio-cpp | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/dic-iit/matio-cpp.git --depth 1 --branch master | |
cd matio-cpp && mkdir -p build && cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
cmake --build . --config ${{ matrix.build_type }} --target install | |
- name: Source-based Dependencies [Windows] | |
if: matrix.os == 'windows-latest' | |
shell: bash | |
run: | | |
# YCM | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/ycm.git --depth 1 --branch master | |
cd ycm && mkdir -p build && cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
if ${{matrix.yarp}}; then | |
# yarp | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/yarp.git --depth 1 --branch yarp-3.6 | |
cd yarp && mkdir -p build && cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
fi | |
# matio-cpp | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/dic-iit/matio-cpp.git --depth 1 --branch master | |
cd matio-cpp && mkdir -p build && cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
# =================== | |
# CMAKE-BASED PROJECT | |
# =================== | |
- name: Configure [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON .. | |
- name: Enable Valgrind tests [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
shell: bash | |
run: | | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DROBOMETRY_VALGRIND_TESTS:BOOL=ON .. | |
- name: Configure [Windows] | |
# Use bash also on Windows (otherwise cd, mkdir, ... do not work) | |
if: matrix.os == 'windows-latest' | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON .. | |
- name: Build | |
shell: bash | |
run: | | |
cd build | |
# Fix for using YARP idl generators (that link ACE) in Windows | |
# See https://github.com/robotology/idyntree/issues/569 for more details | |
export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin | |
cmake --build . --config ${{ matrix.build_type }} | |
- name: Install | |
shell: bash | |
run: | | |
cd build | |
cmake --build . --config ${{ matrix.build_type }} --target install | |
- name: Test | |
shell: bash | |
run: | | |
cd build | |
export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${GITHUB_WORKSPACE}/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin | |
ctest --output-on-failure -C ${{ matrix.build_type }} . | |
- name: Test load of tdd plugin [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' && matrix.yarp | |
shell: bash | |
run: | | |
export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${GITHUB_WORKSPACE}/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin | |
export YARP_DATA_DIRS=$YARP_DATA_DIRS:${GITHUB_WORKSPACE}/install/share/yarp | |
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${GITHUB_WORKSPACE}/install/lib | |
yarp plugin telemetryDeviceDumper | |
- name: Run examples with valgrind [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
shell: bash | |
run: | | |
cd build/bin | |
valgrind --tool=memcheck --leak-check=full ./circular_buffer_example | |
valgrind --tool=memcheck --leak-check=full ./robometry_buffer_example | |
valgrind --tool=memcheck --leak-check=full ./robometry_buffer_manager_conf_file_example | |
valgrind --tool=memcheck --leak-check=full ./robometry_buffer_manager_example | |
valgrind --tool=memcheck --leak-check=full ./robometry_buffer_periodic_save | |