C++ CI Workflow #1872
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name: C++ CI Workflow | |
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 * * *' | |
env: | |
osqp_TAG: v0.6.3 | |
vcpkg_robotology_TAG: v0.0.3 | |
Catch2_TAG: v2.13.9 | |
# Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg | |
VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg | |
# Test with different operating systems | |
jobs: | |
build: | |
name: '[${{ matrix.os }}@${{ matrix.build_type }}] [float:${{ matrix.float }}]' | |
runs-on: ${{ matrix.os }} | |
strategy: | |
matrix: | |
build_type: [Debug, Release] | |
os: [ubuntu-latest, macOS-latest, windows-latest] | |
float: [ON, OFF] | |
fail-fast: false | |
# operating system dependences | |
steps: | |
- uses: actions/checkout@master | |
# Print environment variables to simplify development and debugging | |
- name: Environment Variables | |
shell: bash | |
run: env | |
# ============ | |
# DEPENDENCIES | |
# ============ | |
# 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 $apt_file; done | |
- name: Dependencies [Windows] | |
if: matrix.os == 'windows-latest' | |
run: | | |
# To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need | |
choco install -y wget unzip | |
# To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg | |
# that has been used to create the pre-compiled archive | |
cd C:/ | |
md C:/robotology | |
md C:/robotology/vcpkg | |
wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${env:vcpkg_robotology_TAG}/vcpkg-robotology.zip | |
unzip vcpkg-robotology.zip -d C:/robotology/vcpkg | |
# Install Catch2 | |
cd C:/robotology/vcpkg | |
./vcpkg.exe install --triplet x64-windows catch2 | |
- name: Dependencies [macOS] | |
if: matrix.os == 'macOS-latest' | |
run: | | |
brew install eigen | |
- name: Dependencies [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
run: | | |
sudo apt-get update | |
sudo apt-get install git build-essential cmake libeigen3-dev valgrind | |
- name: Cache Source-based Dependencies | |
id: cache-source-deps | |
uses: actions/cache@v1 | |
with: | |
path: ${{ github.workspace }}/install/deps | |
key: source-deps-${{ runner.os }}-${{ matrix.build_type }}-use-float-${{ matrix.float }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-osqp-${{ env.osqp_TAG }}-catch2-${{ env.Catch2_TAG }} | |
- name: Source-based Dependencies [Windows] | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-latest' | |
shell: bash | |
run: | | |
# osqp | |
cd ${GITHUB_WORKSPACE} | |
git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp | |
cd osqp | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DDFLOAT=${{ matrix.float }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target INSTALL | |
- name: Source-based Dependencies [Ubuntu/macOS] | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest') | |
shell: bash | |
run: | | |
# osqp | |
cd ${GITHUB_WORKSPACE} | |
git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp | |
cd osqp | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ | |
-DDFLOAT=${{ matrix.float }} .. | |
cmake --build . --config ${{ matrix.build_type }} --target install | |
# catch 2 | |
git clone -b ${Catch2_TAG} https://github.com/catchorg/Catch2.git | |
cd Catch2 | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ | |
-DBUILD_TESTING=OFF .. | |
cmake --build . --config ${{ matrix.build_type }} --target install | |
# =================== | |
# CMAKE-BASED PROJECT | |
# =================== | |
- name: Configure [Windows] | |
if: matrix.os == 'windows-latest' | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
-DBUILD_TESTING:BOOL=ON .. | |
- name: Configure [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DBUILD_TESTING:BOOL=ON \ | |
-DOSQPEIGEN_RUN_Valgrind_tests:BOOL=ON .. | |
- name: Configure [macOS] | |
if: matrix.os == 'macOS-latest' | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DBUILD_TESTING:BOOL=ON .. | |
- name: Build | |
shell: bash | |
run: | | |
cd build | |
export PATH=$PATH:/d/a/osqp-eigen/osqp-eigen/install/bin:/d/a/osqp-eigen/osqp-eigen/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin | |
cmake --build . --config ${{ matrix.build_type }} | |
- name: Test | |
shell: bash | |
run: | | |
cd build | |
export PATH=$PATH:/d/a/osqp-eigen/osqp-eigen/install/bin:/d/a/osqp-eigen/osqp-eigen/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 }} . |