C++ CI Workflow #1411
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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 }} . |