build-and-test.yml

# name: Build and Test RAPTOR

# on:
#   push:
#     branches:
#       - unit_test_dev
#     paths-ignore:
#       # Compiled Object files and Libraries
#       - '*.d'
#       - '*.slo'
#       - '*.lo'
#       - '*.o'
#       - '*.obj'
#       - '*.gch'
#       - '*.pch'
#       - '*.so'
#       - '*.dylib'
#       - '*.dll'
#       - '*.mod'
#       - '*.smod'
#       - '*.lai'
#       - '*.la'
#       - '*.a'
#       - '*.lib'

#       # Executables
#       - '*.exe'
#       - '*.out'
#       - '*.app'

#       # Matlab related
#       - '*.asv'
#       - '*.mat'

#       - '.vscode/**'

#       - 'build/**'
#       - 'data/**'
#       - 'data_safecopy/**'
#       - 'Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/**'


#       - 'test_oracle.py'

#       # - 'docker/HSL.zip'
#       # - 'docker/pardiso/**'
#       # - 'HSL/**'

#       - 'Examples/Digit/singlestep_optimization_settings.yaml'
#       - 'Examples/Digit-modified/singlestep_optimization_settings.yaml'

#       - 'test_nanobind_planner.py'

#   pull_request:
#     branches:
#       - unit_test_dev
#     paths-ignore:
#       # Same patterns as for push events
#       - '*.d'
#       - '*.slo'
#       - '*.lo'
#       - '*.o'
#       - '*.obj'
#       - '*.gch'
#       - '*.pch'
#       - '*.so'
#       - '*.dylib'
#       - '*.dll'
#       - '*.mod'
#       - '*.smod'
#       - '*.lai'
#       - '*.la'
#       - '*.a'
#       - '*.lib'

#       # Executables
#       - '*.exe'
#       - '*.out'
#       - '*.app'

#       # Matlab related
#       - '*.asv'
#       - '*.mat'

#       - '.vscode/**'

#       - 'build/**'
#       - 'data/**'
#       - 'data_safecopy/**'
#       - 'Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/**'


#       - 'test_oracle.py'

#       # - 'docker/HSL.zip'
#       # - 'docker/pardiso/**'
#       # - 'HSL/**'

#       - 'Examples/Digit/singlestep_optimization_settings.yaml'
#       - 'Examples/Digit-modified/singlestep_optimization_settings.yaml'

#       - 'test_nanobind_planner.py'


# concurrency:
#   group: ${{ github.workflow }}-${{ github.ref }}
#   cancel-in-progress: true

# jobs:
#   build:

#     # runs-on: ubuntu-latest
#     # container:
#     #   image: zichang1234/raptor:latest
#     runs-on: ubuntu-22.04

      
  
# # not sure
#     env:
#       CCACHE_BASEDIR: ${{ github.workspace }}
#       CCACHE_DIR: ${{ github.workspace }}/.ccache
#       CCACHE_COMPRESS: true
#       CCACHE_COMPRESSLEVEL: 5

#     steps:  
#       - name: Free disk space (initial cleanup)
#         run: |
#           sudo apt-get clean
#           sudo rm -rf /usr/share/dotnet /etc/mysql /etc/php /var/lib/mysql /var/lib/php /opt/ghc
#           df -h

#       # - name: Setup Container
#       #   run: |
#       #     apt update && DEBIAN_FRONTEND="noninteractive" apt install -y sudo lsb-release gnupg2 cmake git python3

#       - name: Checkout Repository
#         uses: actions/checkout@v4
#         with:
#           fetch-depth: 0
#           submodules: recursive

#       - name: Setup ccache
#         uses: actions/cache@v4
#         with:
#           path: .ccache
#           # save-state: true
#           key: ccache-linux-${{ matrix.container }}-${{ github.sha }}
#           restore-keys: |
#             ccache-linux-${{ matrix.container }}-

#       - name: Get branch name (merge)
#         if: github.event_name != 'pull_request'
#         shell: bash
#         run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV

#       - name: Get branch name (push)
#         if: github.event_name != 'pull_request'
#         shell: bash
#         run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV

#       - name: Get branch name (pull request)
#         if: github.event_name == 'pull_request'
#         shell: bash
#         run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV

#       - name: Debug Branch Name
#         run: echo ${{ env.BRANCH_NAME }}

#       - name: Install APT Dependencies
#         run: |
#           sudo apt-get update && sudo apt-get install -y \
#               build-essential \
#               cmake \
#               gdb \
#               valgrind \
#               libboost-all-dev \
#               libeigen3-dev \
#               libgsl-dev \
#               git \
#               unzip \
#               patch \
#               wget \
#               pkg-config \
#               liblapack-dev \
#               libmetis-dev \
#               python3.10 \
#               python3-pip \
#               iputils-ping \
#               net-tools \
#               netcat \
#               screen \
#               lsb-release \
#               gnupg2 \
#               curl \
#               libyaml-cpp-dev \
#               xvfb

#       - name: Free disk space
#         run: |
#           sudo apt clean
#           df -h

#       - name: Install Python Packages
#         run: |
#           pip3 install --upgrade pip
#           pip3 install scipy matplotlib pyyaml torch pybullet==3.2.5 mujoco==2.3.7 glfw==2.6.2 pyopengl==3.1.7 numpy==1.25.2 nanobind pygccxml pyplusplus
        
#       - name: Free disk space
#         run: |
#           sudo apt clean
#           df -h
#       - name: Install Pinocchio Dependencies
#         run: |
#           bash docker/scripts/install-pinocchio.sh

#       - name: Free disk space
#         run: |
#           sudo apt clean
#           df -h

#       - name: Install HSL Solver
#         run: |
#           bash docker/scripts/install-hsl.sh

#       - name: Free disk space
#         run: |
#           sudo apt clean
#           df -h

#       - name: Install Ipopt Solver
#         run: |
#           bash docker/scripts/install-ipopt.sh

#       - name: Free disk space
#         run: |
#           sudo apt clean
#           df -h

#       - name: Install OMPL
#         run: |
#           bash docker/scripts/install-ompl.sh

#       - name: Free disk space
#         run: |
#           sudo apt clean
#           df -h

#       - name: Configure CMake
#         run: |
#           # Add cloned repo to safe.directory, since it was not cloned by the container
#           git config --global --add safe.directory "$GITHUB_WORKSPACE"
#           git submodule update --init
#           export PATH=$PATH:/opt/openrobots/bin
#           export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
#           export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages
#           export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu

#           mkdir build
#           cd build
#           cmake .. \
#             -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
#             -DCMAKE_BUILD_TYPE=Release \
#             -DBUILD_WITH_COLLISION_SUPPORT=ON \
#             -DBUILD_ADVANCED_TESTING=OFF \
#             -DBUILD_WITH_CASADI_SUPPORT=ON \
#             -DPYTHON_EXECUTABLE=$(which python3) \
#             -DBUILD_WITH_OPENMP_SUPPORT=ON \
#             -DINSTALL_DOCUMENTATION=ON \
#             -DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake

#       - name: Build Project
#         run: |
#           cd build
#           make -j$(nproc)
# # may overlap
#     #   - name: Build Tests
#     #     run: |
#     #       cd build
#     #       make -j$(nproc) build_tests

#       - name: Run Tests
#         env:
#           CTEST_OUTPUT_ON_FAILURE: 1
#         run: |
#           cd build
#           ctest --output-on-failure

#       - name: Upload Build Artifacts
#         if: always()
#         uses: actions/upload-artifact@v3
#         with:
#           name: build-artifacts
#           path: build/

#       - name: Run Tests
#         env:
#           CTEST_OUTPUT_ON_FAILURE: 1
#         run: |
#           cd build
#           mkdir -p TestResults
#           ctest --output-on-failure --output-junit TestResults/test-results.xml

#       - name: Upload Test Results
#         if: always()
#         uses: actions/upload-artifact@v3
#         with:
#           name: test-results
#           path: build/TestResults/test-results.xml

#       - name: Upload Test Results to Test Reporter
#         if: always()
#         uses: dorny/test-reporter@v1
#         env:
#           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
#         with:
#           name: CTest Results
#           path: build/TestResults/test-results.xml
#           reporter: junit


#       - name: Test Packaging
#         run: |
#           export PATH=$PATH:/opt/openrobots/bin
#           export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig
#           export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
          
#           # Test CMake module packaging
#           cd ./unittest/packaging/cmake
#           mkdir build && cd build
#           export CMAKE_PREFIX_PATH=/usr/local
#           cmake .. \
#             -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
#             -DPYTHON_EXECUTABLE=$(which python3)
#           make -j$(nproc)
#           ./run_rnea
#           ./load_urdf

#           # Test pkg-config packaging
#           cd ../../pkgconfig
#           mkdir build && cd build
#           cmake .. \
#             -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
#             -DPYTHON_EXECUTABLE=$(which python3)
#           make -j$(nproc)
#           ./run_rnea
#           ./load_urdf

#           # Test FetchContent packaging
#           cd ../../external
#           export PINOCCHIO_GIT_REPOSITORY="file://$GITHUB_WORKSPACE"
#           export PINOCCHIO_GIT_TAG="test-external-$(git rev-parse --short HEAD)"
#           git tag $PINOCCHIO_GIT_TAG
#           mkdir build && cd build
#           cmake .. \
#             -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
#             -DPYTHON_EXECUTABLE=$(which python3)
#           make -j$(nproc)
#           ./run_rnea
#           ./load_urdf

#           # Test CMake module packaging and pinocchio_header target
#           cd ../../pinocchio_header
#           mkdir build && cd build
#           cmake .. \
#             -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
#             -DPYTHON_EXECUTABLE=$(which python3)
#           make -j$(nproc)
#           ./run_fk

#       - name: Uninstall Project
#         run: |
#           cd build
#           sudo make uninstall

#   check:
#     if: always()
#     name: check-linux-apt

#     needs:
#       - build

#     runs-on: ubuntu-latest

#     steps:
#       - name: Decide whether the needed jobs succeeded or failed
#         uses: re-actors/alls-green@release/v1
#         with:
#           jobs: ${{ toJSON(needs) }}