Update ci.yml #1

Workflow file for this run

	name: CI Workflow

	on:
	workflow_dispatch:
	push:
	branches:
	- master
	- 'releases/**'
	tags:
	- v*
	pull_request:
	release:
	types: [published]
	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:
	conda-build:
	name: '[conda:Tags:${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]'
	runs-on: ${{ matrix.os }}
	strategy:
	fail-fast: false
	matrix:
	build_type: [Release]
	os: [ubuntu-latest, macos-12, macos-14, windows-2019, windows-2022]
	project_tags:
	- Default
	- Unstable
	include:
	- project_tags: Default
	project_tags_cmake_options: ""
	- project_tags: Unstable
	project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable"

	steps:
	- uses: actions/checkout@v4

	- uses: conda-incubator/setup-miniconda@v3
	if: matrix.os != 'macos-14'
	with:
	miniforge-variant: Mambaforge
	miniforge-version: latest

	- uses: conda-incubator/setup-miniconda@v3
	if: matrix.os == 'macos-14'
	with:
	installer-url: https://github.com/conda-forge/miniforge/releases/download/23.11.0-0/Mambaforge-23.11.0-0-MacOSX-arm64.sh

	- name: Install files to enable compilation of mex files [Conda/Linux]
	if: contains(matrix.os, 'ubuntu')
	run: \|
	curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
	unzip msdk_R2020b_mexa64.zip
	rm msdk_R2020b_mexa64.zip
	echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
	echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV

	- name: Install files to enable compilation of mex files [Conda/macOS Intel]
	if: matrix.os == 'macos-12'
	run: \|
	curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip
	unzip msdk_R2020a_mexmaci64.zip
	rm msdk_R2020a_mexmaci64.zip
	echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV
	echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV

	- name: Install files to enable compilation of mex files [Conda/macOS Apple Silicon]
	if: matrix.os == 'macos-14'
	run: \|
	curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2023b_mexmaca64.zip
	unzip msdk_R2023b_mexmaca64.zip
	rm msdk_R2023b_mexmaca64.zip
	echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2023b_mexmaca64" >> $GITHUB_ENV
	echo "GHA_Matlab_MEX_EXTENSION=mexmaca64" >> $GITHUB_ENV

	- name: Install files to enable compilation of mex files [Conda/Windows]
	if: contains(matrix.os, 'windows')
	shell: bash
	run: \|
	curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip
	unzip msdk_R2020a_mexw64.zip
	rm msdk_R2020a_mexw64.zip
	echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV
	echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV

	- name: Install ace (on all platforms excluding macOS M1) [Conda]
	if: matrix.os != 'macos-14'
	shell: bash -l {0}
	run: \|
	# Dependencies
	mamba install ace

	- name: Dependencies [Conda]
	shell: bash -l {0}
	run: \|
	# Dependencies
	mamba install asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
	# Python
	mamba install python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad pyqtwebengine qtpy pyyaml

	# Additional dependencies useful only on Linux
	- 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 bash-completion expat freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64

	# Additional dependencies useful only on Windows
	- name: Dependencies [Conda/Windows]
	if: contains(matrix.os, 'windows')
	shell: bash -l {0}
	run: \|
	# Additional dependencies only useful on Windows
	mamba install -c conda-forge -c robotology esdcan freeglut

	- name: Print used environment [Conda]
	shell: bash -l {0}
	run: \|
	mamba list
	env

	- name: Set CMake generator [Conda/Linux and macOs]
	if: contains(matrix.os, 'ubuntu') \|\| contains(matrix.os, 'macos')
	shell: bash -l {0}
	run: \|
	echo "GHA_CMAKE_GENERATOR=Ninja" >> $GITHUB_ENV

	- name: Set CMake generator [Conda/Windows 2022]
	if: contains(matrix.os, 'windows-2022')
	shell: bash -l {0}
	run: \|
	echo "GHA_CMAKE_GENERATOR=Visual Studio 17 2022" >> $GITHUB_ENV

	- name: Set CMake generator [Conda/Windows 2019]
	if: contains(matrix.os, 'windows-2019')
	shell: bash -l {0}
	run: \|
	echo "GHA_CMAKE_GENERATOR=Visual Studio 16 2019" >> $GITHUB_ENV

	- name: Configure [Conda]
	shell: bash -l {0}
	run: \|
	set
	mkdir -p b
	cd b
	cmake -G"${GHA_CMAKE_GENERATOR}" -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} ..
	# Disable options not tested on Conda for now
	cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF .

	- name: Disable options not suppored on Visual Studio 2019 [Conda/Windows 2019]
	if: contains(matrix.os, 'windows-2019')
	shell: bash -l {0}
	run: \|
	cd b
	cmake -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF .

	# For some reason, the Strawberry perl's pkg-config is found
	# instead of the conda's one, so let's delete the /c/Strawberry directory
	- name: Debug pkg-config problem
	if: contains(matrix.os, 'windows')
	shell: bash -l {0}
	run: \|
	rm -rf /c/Strawberry

	- name: Build [Conda]
	shell: bash -l {0}
	run: \|
	# Using b instead of build as a temporary workaround to https://github.com/robotology/robotology-superbuild/issues/1542#issuecomment-1827682957
	# Go back to build once https://github.com/robotology/yarp/pull/3057 is merged and released
	cd b
	cmake --build . --config ${{ matrix.build_type }}

	# Skip on Apple Silicon https://github.com/robotology/robotology-superbuild/issues/1625
Check failure on line 178 in .github/workflows/ci.yml View workflow run for this annotation GitHub Actions / .github/workflows/ci.yml Invalid workflow file `You have an error in your yaml syntax on line 178`
	- name: Check python metadata of installed python packages are coherent [Conda]
	if: !contains(matrix.os, ' macos-14')
	shell: bash -l {0}
	run: \|
	source ./b/install/share/robotology-superbuild/setup.sh
	pip check

	docker-build:
	name: '[docker:Tags:${{ matrix.project_tags }}@${{ matrix.docker_image }}@${{ matrix.build_type }}]'
	runs-on: ubuntu-20.04
	strategy:
	fail-fast: false
	matrix:
	build_type: [Debug]
	cmake_generator:
	- "Ninja"
	docker_image:
	- "ubuntu:focal"
	- "ubuntu:jammy"
	- "debian:buster-backports"
	- "debian:bullseye"

	project_tags:
	- Default
	- Unstable
	include:
	- project_tags: Default
	project_tags_cmake_options: ""
	- project_tags: Unstable
	project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable"

	container:
	image: ${{ matrix.docker_image }}
	volumes:
	- /usr/local:/host_usr_local

	steps:
	- uses: actions/checkout@v3.6.0

	- name: Free disk space in host machine
	run: \|
	rm -rf /host_usr_local/graalvm/
	rm -rf /host_usr_local/.ghcup/
	rm -rf /host_usr_local/share/powershell
	rm -rf /host_usr_local/share/chromium
	rm -rf /host_usr_local/lib/android
	rm -rf /host_usr_local/lib/node_modules

	- name: Upgrade apt packages Debian Testing [Debian Testing]
	if: matrix.docker_image == 'debian:testing'
	run: \|
	# The Debian testing docker image is generated only
	# once a month, so to actually test with the latest
	# packages we need to manually upgrade the packages
	apt-get -y upgrade

	- name: Dependencies [Docker]
	run: \|
	chmod +x ./.ci/install_debian.sh
	bash ./.ci/install_debian.sh

	- name: Install CMake 3.16 [Docker/Debian Buster]
	if: matrix.docker_image == 'debian:buster-backports'
	run: \|
	apt-get -y -t buster-backports install cmake

	- name: Configure [Docker]
	run: \|
	mkdir -p build
	cd build
	cmake -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -G"${{ matrix.cmake_generator }}" -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} ..

	- name: Disable profiles that are not supported in docker for now [Docker debian-testing and debian-buster]
	if: (matrix.docker_image == 'debian:testing' \|\| matrix.docker_image == 'debian:buster-backports')
	run: \|
	cd build
	cmake -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF .

	- name: Disable profiles that are not supported in Debian Buster [Docker debian:buster-backports]
	if: (matrix.docker_image == 'debian:buster-backports')
	run: \|
	cd build
	cmake -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=OFF .

	- name: Disable MuJoCo for other distros released before 2022 [Docker ubuntu:focal and debian:bullseye]
	if: (matrix.docker_image == 'ubuntu:focal' \|\| matrix.docker_image == 'debian:bullseye')
	run: \|
	cd build
	cmake -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF .

	- name: Build [Docker]
	run: \|
	cd build
	cmake --build . --config ${{ matrix.build_type }}

	normal-build:
	name: '[Tags:${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]'
	runs-on: ${{ matrix.os }}
	strategy:
	fail-fast: false
	matrix:
	build_type: [Release]
	os: [ubuntu-20.04, windows-2019]
	project_tags: [Default, Unstable, LatestReleases]
	include:
	- os: ubuntu-20.04
	build_type: Release
	cmake_generator: "Ninja"
	- os: macos-latest
	build_type: Release
	cmake_generator: "Ninja"
	- project_tags: Default
	project_tags_cmake_options: ""
	- project_tags: Unstable
	project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable"
	- project_tags: LatestReleases
	project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Custom -DROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE=${GITHUB_WORKSPACE}/releases/latest.releases.yaml"
	steps:
	- uses: actions/checkout@master

	- name: Install files to enable compilation of mex files [Linux]
	if: contains(matrix.os, 'ubuntu')
	run: \|
	curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
	unzip msdk_R2020b_mexa64.zip
	rm msdk_R2020b_mexa64.zip
	echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
	echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV

	- name: Move robotology-superbuild in C under Windows
	if: contains(matrix.os, 'windows')
	shell: bash
	run: \|
	ls /d/
	cp -r ${GITHUB_WORKSPACE} /c/

	- name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR
	if: contains(matrix.os, 'windows')
	shell: bash
	run: \|
	echo "ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=/c/robotology-superbuild" >> $GITHUB_ENV

	- name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR
	if: contains(matrix.os, 'ubuntu')
	shell: bash
	run: \|
	echo "ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=${GITHUB_WORKSPACE}" >> $GITHUB_ENV

	- name: Check free space
	shell: bash
	run: \|
	df -h

	# Print environment variables to simplify development and debugging
	- name: 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: contains(matrix.os, 'ubuntu')
	run: \|
	for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

	# symlinks disabled are the default setting on Windows, but unfortunatly GitHub Actions enabled them
	# See:
	# * https://github.com/robotology/robotology-superbuild/issues/429
	# * https://github.com/actions/virtual-environments/pull/1186
	- name: Disable Git symlinks on Windows
	if: contains(matrix.os, 'windows')
	run: git config --global core.symlinks false

	# ============
	# DEPENDENCIES
	# ============

	# Waiting a github action that installs dependencies in a
	# multiplatform setup (likely using TS or JS), we install
	# packages with os-specific steps.

	- name: Dependencies [Ubuntu]
	if: contains(matrix.os, 'ubuntu')
	run: \|
	cd $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR
	chmod +x ./.ci/install_debian.sh
	sudo bash ./.ci/install_debian.sh

	- name: Dependencies [Windows]
	if: contains(matrix.os, 'windows')
	run: \|
	cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
	# To avoid spending a huge time compiling vcpkg dependencies, we download an archive that comes precompiled with all the ports that we need
	choco install -y wget unzip
	# To avoid problems with non-relocatable packages, we unzip the archive exactly in the same directory
	# that has been used to create the pre-compiled archive
	cd C:/
	wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest/download/vcpkg-robotology-with-gazebo.zip
	unzip vcpkg-robotology-with-gazebo.zip -d C:/
	rm vcpkg-robotology-with-gazebo.zip

	# ===================
	# CMAKE-BASED PROJECT
	# ===================

	- name: Configure [Ubuntu]
	if: contains(matrix.os, 'ubuntu')
	shell: bash
	run: \|
	cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
	mkdir -p build
	cd build
	cmake -C ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/.ci/initial-cache.gh.cmake -G"${{ matrix.cmake_generator }}" -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DYCM_BOOTSTRAP_VERBOSE=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} ..

	- name: Configure [Windows]
	if: contains(matrix.os, 'windows')
	shell: bash
	run: \|
	# Workaround for https://gitlab.kitware.com/cmake/cmake/-/merge_requests/7721
	mv C:/robotology/vcpkg/installed/x64-windows/tools/pkgconf/pkgconf.exe C:/robotology/vcpkg/installed/x64-windows/tools/pkgconf/pkgconfback.exe
	cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
	# Make sure that Gazebo packages can be found by CMake
	source /c/robotology/scripts/setup-deps.sh
	mkdir -p build
	cd build
	# ROBOTOLOGY_ENABLE_TELEOPERATION is OFF as it is unsupported on vcpkg
	cmake -C ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/.ci/initial-cache.gh.cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake -DROBOTOLOGY_USES_MATLAB:BOOL=OFF -DYCM_BOOTSTRAP_VERBOSE=ON -DYCM_EP_INSTALL_DIR=C:/robotology/robotology -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=Debug ${{ matrix.project_tags_cmake_options }} ..
	cmake -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF .

	- name: Disable options unsupported on Ubuntu 20.04 and vcpkg
	if: contains(matrix.os, '20.04') \|\| contains(matrix.os, 'windows')
	shell: bash
	run: \|
	cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
	cd build
	cmake -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF .

	- name: Build [Ubuntu]
	if: contains(matrix.os, 'ubuntu')
	shell: bash
	run: \|
	cd build
	cmake --build . --config ${{ matrix.build_type }}

	# Just for release jobs we also compile Windows in Release, to ensure that Release libraries are included in the installer
	- name: Build (Release) [Windows]
	if: github.event_name == 'release' && matrix.project_tags == 'Default' && contains(matrix.os, 'windows')
	shell: bash
	run: \|
	cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
	cd build
	# Make sure that vcpkg's ace .dll are on the PATH
	source /c/robotology/scripts/setup-deps.sh
	cmake --build . --config Release
	# Cleanup build directories to avoid to fill the disk
	rm -rf ./robotology

	- name: Build (Debug) [Windows]
	if: contains(matrix.os, 'windows')
	shell: bash
	run: \|
	cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
	cd build
	# Make sure that vcpkg's ace .dll are on the PATH
	source /c/robotology/scripts/setup-deps.sh
	cmake --build . --config Debug
	# Cleanup build directories to avoid to fill the disk
	rm -rf ./robotology

	# Just for release builds we generate the installer
	- name: Generate installer [Windows]
	if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019'
	shell: bash
	run: \|
	# Download QtIFW
	cd /c
	certutil.exe -urlcache -split -f https://github.com/robotology-dependencies/qtifw-binaries/releases/download/v3.1.1/QtIFW-3.1.1.zip QtIFW-3.1.1.zip
	7z.exe x QtIFW-3.1.1.zip
	export PATH=$PATH:/c/QtIFW-3.1.1/bin
	# As we need a lot of space, we build the installer in the C:\ drive
	# that has more space of the D:\ drive in GitHub Actions
	mkdir /c/build-installer-full
	cd /c/build-installer-full
	cmake -A x64 -DRI_BUILD_FULL_INSTALLER:BOOL=ON ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/packaging/windows
	cmake --build . --config Release --target PACKAGE
	# Move installer in installer directory with a fixed name
	mv *.exe /c/robotology-full-installer-win64.exe
	# Cleanup and build dependencies installer
	cd /c
	rm -rf /c/build-installer-full
	mkdir /c/build-installer-dependencies
	cd /c/build-installer-dependencies
	cmake -A x64 -DRI_BUILD_FULL_INSTALLER:BOOL=OFF ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/packaging/windows
	cmake --build . --config Release --target PACKAGE
	# Move installer in installer directory with a fixed name
	mv *.exe /c/robotology-dependencies-installer-win64.exe

	- name: Upload Full Installer [Windows]
	if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019'
	uses: actions/upload-release-asset@v1.0.2
	env:
	GITHUB_TOKEN: ${{ secrets.ACCESS_TOKEN }}
	with:
	upload_url: ${{ github.event.release.upload_url }}
	asset_path: C:/robotology-full-installer-win64.exe
	asset_name: robotology-full-installer-win64.exe
	asset_content_type: application/octet-stream

	- name: Upload Dependencies installer [Windows]
	if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019'
	uses: actions/upload-release-asset@v1.0.2
	env:
	GITHUB_TOKEN: ${{ secrets.ACCESS_TOKEN }}
	with:
	upload_url: ${{ github.event.release.upload_url }}
	asset_path: C:/robotology-dependencies-installer-win64.exe
	asset_name: robotology-dependencies-installer-win64.exe
	asset_content_type: application/octet-stream

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