CI Workflow #1097
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| name: CI Workflow | |
| on: | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - 'master' | |
| repository_dispatch: | |
| types: [build_documentation] | |
| schedule: | |
| - cron: '0 2 * * *' | |
| jobs: | |
| docs: | |
| name: "Publish" | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@master | |
| - name: Configure git and environment variables | |
| run: | | |
| # Configure git | |
| git config --global push.default upstream | |
| git config --global user.name "GitHub Actions" | |
| git config --global user.email "actions@github.com" | |
| git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}.git | |
| # Fetch the yarp_it_pages branch on the yarp-documentation repository | |
| git fetch origin yarp_it_pages 2>/dev/null || true | |
| # Checkout yarp_it_pages branch on the yarp-documentation repository | |
| git checkout --orphan yarp_it_pages | |
| yarp_checkout_dir="${PWD}/yarp" | |
| # Must end with "/" | |
| yarp_url="www.yarp.it/" | |
| yarp_url_re="$(echo ${yarp_url} | sed 's|www\.|(www\.)?|g' | sed 's|\.|\\\.|g' | sed 's|\/|\\\/|g')" | |
| yarp_cname="$(echo ${yarp_url} | sed 's|/.*||g')" | |
| # Set the variables so that they are available for the next steps | |
| echo "YARP_CHECKOUT_DIR=${yarp_checkout_dir}" >> $GITHUB_ENV | |
| echo "YARP_URL=${yarp_url}" >> $GITHUB_ENV | |
| echo "YARP_URL_RE=${yarp_url_re}" >> $GITHUB_ENV | |
| echo "YARP_CNAME=${yarp_cname}" >> $GITHUB_ENV | |
| - name: Clone YARP repository and select branches and tags | |
| env: | |
| GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| run: | | |
| # Clone YARP repository | |
| git clone https://github.com/robotology/yarp.git ${YARP_CHECKOUT_DIR} | |
| # Get list of all devices repositories | |
| gh repo list robotology -L 1000 | grep -E 'yarp-device-|yarp-devices-' | cut -f 1 > yarp-device-list.txt | |
| echo "Found the following devices repositories:" | |
| cat yarp-device-list.txt | |
| # Clone external devices dirs | |
| yarpDeviceEntries=$(sed 's/.*\///' yarp-device-list.txt) | |
| for yarpDeviceEntry in $yarpDeviceEntries | |
| do | |
| git clone --sparse https://github.com/robotology/${yarpDeviceEntry}.git ${YARP_CHECKOUT_DIR}/opt-modules/${yarpDeviceEntry} | |
| cd ${YARP_CHECKOUT_DIR}/opt-modules/${yarpDeviceEntry} && git sparse-checkout set src/devices | |
| done | |
| #--- Beginning of robotology-playground repos | |
| # # Clone external devices dirs | |
| # git clone --sparse https://github.com/robotology-playground/yarp-devices-ros2.git ${YARP_CHECKOUT_DIR}/opt-modules/yarp-devices-ros2 | |
| # cd ${YARP_CHECKOUT_DIR}/opt-modules/yarp-devices-ros2 && git sparse-checkout set src/devices | |
| #--- End of robotology-playground repos | |
| # Git branches. | |
| # For now generate documentation just for the "master" branch. | |
| branches="master" | |
| echo -e "Selected branches:\n${branches}\n" | |
| # Get all git tags and keep only the last tag for each series | |
| all_tags=$(git -C ${YARP_CHECKOUT_DIR} for-each-ref --format="%(refname)" refs/tags/v* | grep -v "v1\|v2" | sed "s#refs/tags/##" | sort -V) | |
| unset tags | |
| unset cur_vmaj | |
| unset cur_vmin | |
| unset cur_tag | |
| for tag in ${all_tags}; do | |
| vmaj=$(echo ${tag} | sed 's/v//' | cut -d'.' -f1) | |
| vmin=$(echo ${tag} | sed 's/v//' | cut -d'.' -f2) | |
| if [ "${cur_vmaj}.${cur_vmin}" != "${vmaj}.${vmin}" ]; then | |
| if [ -n "${cur_tag}" ]; then | |
| tags="${tags}${cur_tag}"$'\n' | |
| fi | |
| fi | |
| cur_vmaj=${vmaj} | |
| cur_vmin=${vmin} | |
| cur_tag=${tag} | |
| done | |
| tags="${tags}${cur_tag}" | |
| echo -e "Selected tags:\n${tags}\n" | |
| # Set the variables so that they are available for the next steps | |
| echo 'BRANCHES<<EOF' >> $GITHUB_ENV | |
| echo ${branches} >> $GITHUB_ENV | |
| echo 'EOF' >> $GITHUB_ENV | |
| echo 'TAGS<<EOF' >> $GITHUB_ENV | |
| echo ${tags} >> $GITHUB_ENV | |
| echo 'EOF' >> $GITHUB_ENV | |
| - name: Install dependencies | |
| run: | | |
| # Download and install latest doxygen version | |
| # wget http://doxygen.nl/files/doxygen-1.9.4.linux.bin.tar.gz -O doxygen.tar.gz | |
| wget https://www.doxygen.nl/files/doxygen-1.9.8.linux.bin.tar.gz -O doxygen.tar.gz | |
| tar xzf doxygen.tar.gz | |
| sudo mv doxygen-*/bin/* /usr/local/bin | |
| rm -Rf doxygen.tar.gz doxygen-* | |
| # Install doxygen-related tools | |
| sudo apt update | |
| sudo apt install -qq -y graphviz plantuml texlive-latex-base | |
| # Install basics | |
| sudo apt-get install -qq -y apt-transport-https ca-certificates gnupg software-properties-common wget | |
| sudo apt-get install -qq -y cmake | |
| # Install Robotology dependencies (icub-common to be checked) | |
| #wget http://www.icub.org/ubuntu/pool/contrib/science/i/icub-common/icub-common_1.25.0-1~jammy_amd64.deb -O icub-common.deb | |
| #wget http://www.icub.org/ubuntu/pool/contrib/science/y/ycm-cmake-modules/ycm-cmake-modules_0.14.1~jammy_amd64.deb -O ycm-cmake-modules.deb | |
| wget https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb -O ycm-cmake-modules.deb | |
| #sudo dpkg -i icub-common.deb | |
| sudo dpkg -i ycm-cmake-modules.deb | |
| #rm -f icub-common.deb | |
| rm -f ycm-cmake-modules.deb | |
| #maybe useless? | |
| #sudo apt install -qq -ylibclang1-9 libclang-cpp9 | |
| # Install lots of YARP dependencies (some of them may be duplicated from icub-common) | |
| sudo apt-get install -qq -y cmake \ | |
| libace-dev \ | |
| libsqlite3-dev \ | |
| libtinyxml-dev \ | |
| libedit-dev \ | |
| qtbase5-dev \ | |
| qtdeclarative5-dev \ | |
| qtmultimedia5-dev \ | |
| libqt5opengl5-dev \ | |
| libqcustomplot-dev \ | |
| libopencv-dev \ | |
| libeigen3-dev \ | |
| libjpeg-dev \ | |
| libpng-dev \ | |
| libgraphviz-dev \ | |
| libpng-dev \ | |
| libv4l-dev \ | |
| libavcodec-dev \ | |
| libavdevice-dev \ | |
| libavformat-dev \ | |
| libavutil-dev \ | |
| portaudio19-dev | |
| # Not working on Ubuntu 22.04 (to be fixed?) | |
| # sudo apt-get install -qq -y libgstreamer1.0-dev \ | |
| # libgstreamer-plugins-base1.0-dev \ | |
| - name: Checkout previously generated documentation | |
| run: | | |
| # For each tag, if the directory already exists in latest generation, | |
| # recover it, and use it without re-generating it. | |
| for ref in ${TAGS}; do | |
| echo "-------------------------------------------------------------" | |
| echo "Checking tag ${ref}:" | |
| echo | |
| ver=$(echo ${ref} | sed 's/v//') | |
| vmaj=$(echo ${ver} | cut -d'.' -f1) | |
| vmin=$(echo ${ver} | cut -d'.' -f2) | |
| dir=$(echo ${ref} | sed 's/^\(v[0-9]\+\.[0-9]\+\).*$/\1/') | |
| git checkout origin/yarp_it_pages -- ${dir} 2>/dev/null || true | |
| git reset -q | |
| if [ -f ${dir}/index.html ]; then | |
| cur_ver=$(grep VERSION ${dir}/index.html | sed "s/[^']\+'\([^']\+\).\+/\1/g") | |
| if [ "${cur_ver}" != "${ver}" ]; then | |
| # Same directory, but not the same tag. Must be deleted | |
| echo Directory ${dir} was found, but tag is different. Found ${cur_ver}, expected "${ver}". Deleting folder. | |
| rm -rf ${dir} | |
| else | |
| echo Reusing documentation for ref ${ref} in dir ${dir} | |
| fi | |
| else | |
| echo | |
| echo Documentation for tag ${ref} not found | |
| fi | |
| done | |
| - name: Generate documentation | |
| run: | | |
| # Generate the documentation for all tags and branches (if the | |
| # corresponding directory does not exist) | |
| for ref in ${TAGS} ${BRANCHES}; do | |
| if [[ ${ref} =~ ^v[0-9]+\.[0-9]+ ]]; then | |
| dir=$(echo ${ref} | sed 's/^\(v[0-9]\+\.[0-9]\+\).*$/\1/') | |
| else | |
| dir="git-${ref}" | |
| fi | |
| if [ ! -d ${dir} ]; then | |
| echo | |
| echo "Generating documentation for ref ${ref} in dir ${dir}" | |
| echo | |
| git -C ${YARP_CHECKOUT_DIR} checkout ${ref} | |
| binary_dir=yarp-${dir}-build | |
| # Run CMake | |
| mkdir -p ${binary_dir} | |
| /usr/bin/cmake -Hyarp -B${binary_dir} -G"Unix Makefiles" \ | |
| -DYARP_DOXYGEN_HTML:BOOL=ON \ | |
| -DYARP_DOXYGEN_XML:BOOL=ON \ | |
| -DYARP_DOXYGEN_TAGFILE:BOOL=ON \ | |
| -DYARP_USE_SYSTEM_YCM:BOOL=OFF 2>&1 | tee ${binary_dir}/cmake.log | |
| # Build the documentation | |
| /usr/bin/cmake --build ${binary_dir} --target dox 2>&1 | tee ${binary_dir}/dox.log | |
| # Move generated documentation in its final destination | |
| mv ${binary_dir}/dox/html ${dir} | |
| # Make available logs and doxygen.log, in case someone needs to | |
| # fix something or wants to clean some doxygen warnings | |
| mv ${binary_dir}/cmake.log ${dir} | |
| mv ${binary_dir}/dox.log ${dir} | |
| if [ -f ${binary_dir}/doc/doxygen.log ]; then | |
| mv ${binary_dir}/doc/doxygen.log ${dir} | |
| fi | |
| if [ -f ${binary_dir}/doxygen.log ]; then | |
| mv ${binary_dir}/doxygen.log ${dir} | |
| fi | |
| # Make the tag file available | |
| mv ${binary_dir}/dox/YARP.tag ${dir} | |
| # Hide doxygen banner and generation date | |
| if [ -f ${dir}/yarp-doxygen-style.css ]; then | |
| echo "" >> ${dir}/yarp-doxygen-style.css | |
| echo "/* Hide doxygen banner and generation date */" >> ${dir}/yarp-doxygen-style.css | |
| echo ".navpath li.footer {" >> ${dir}/yarp-doxygen-style.css | |
| echo " visibility: hidden;" >> ${dir}/yarp-doxygen-style.css | |
| echo "}" >> ${dir}/yarp-doxygen-style.css | |
| fi | |
| fi | |
| git add ${dir} | |
| git commit -m "Generate documentation for YARP ${ref}" | |
| # Push every commit on a temporary branch to avoid | |
| # "remote: fatal: pack exceeds maximum allowed size" | |
| # errors when we push everything at the end, and be sure to wait for | |
| # the whole generation before pushing on the yarp_it_pages branch. | |
| git push --force origin HEAD:refs/heads/yarp_it_pages-tmp | |
| done | |
| # Add symbolic link to the latest release | |
| for ref in ${TAGS}; do | |
| dir=$(echo ${ref} | sed 's/^\(v[0-9]\+\.[0-9]\+\).*$/\1/') | |
| done | |
| ln -s ${dir} latest | |
| git add latest | |
| git commit -m "Add link from ${dir} to latest" | |
| git push --force origin HEAD:refs/heads/yarp_it_pages-tmp | |
| - name: Generate version_switch.js | |
| run: | | |
| unset all_tags_versions | |
| unset all_versions | |
| for ref in ${BRANCHES} ${TAGS}; do | |
| if [[ ${ref} =~ ^v[0-9]+\.[0-9]+ ]]; then | |
| dir=$(echo ${ref} | sed 's/^\(v[0-9]\+\.[0-9]\+\).*$/\1/') | |
| all_tags_versions="${all_tags_versions} '${dir}': '$(echo ${dir} | sed 's/v//')',"$'\n' | |
| else | |
| dir="git-${ref}" | |
| all_versions="${all_versions} '${dir}': '${dir}',"$'\n' | |
| fi | |
| done | |
| all_tags_versions="$(echo "${all_tags_versions}" | sort -Vr)" | |
| all_versions="${all_versions} 'latest': 'latest release',"$'\n'"${all_tags_versions}" | |
| cat > version_switch.js << EOF | |
| (function() { | |
| 'use strict'; | |
| var yarp_url = '${YARP_URL}'; | |
| var url_re = /${YARP_URL_RE}(git-master|latest|(v\d\.\d+))\//; | |
| var all_versions = { | |
| ${all_versions} | |
| }; | |
| function build_select(current_version, current_release) { | |
| var buf = ['<select>']; | |
| \$.each(all_versions, function(version, title) { | |
| buf.push('<option value="' + version + '"'); | |
| if (version == current_version) { | |
| buf.push(' selected="selected">'); | |
| if (version[0] == 'v') { | |
| buf.push(current_release); | |
| } else { | |
| buf.push(title + ' (' + current_release + ')'); | |
| } | |
| } else { | |
| buf.push('>' + title); | |
| } | |
| buf.push('</option>'); | |
| }); | |
| buf.push('</select>'); | |
| return buf.join(''); | |
| } | |
| function patch_url(url, new_version) { | |
| return url.replace(url_re, yarp_url + new_version + '/'); | |
| } | |
| function on_switch() { | |
| var selected = \$(this).children('option:selected').attr('value'); | |
| var url = window.location.href, | |
| new_url = patch_url(url, selected); | |
| if (new_url != url) { | |
| // check beforehand if url exists, else redirect to version's start page | |
| \$.ajax({ | |
| url: new_url, | |
| success: function() { | |
| window.location.href = new_url; | |
| }, | |
| error: function() { | |
| window.location.href = window.location.protocol + '//' + yarp_url + selected; | |
| } | |
| }); | |
| } | |
| } | |
| \$(document).ready(function() { | |
| var match = url_re.exec(window.location.href); | |
| if (match) { | |
| var release = DOCUMENTATION_OPTIONS.VERSION; | |
| var version = match[2]; | |
| var select = build_select(version, release); | |
| \$('.version_switch').html(select); | |
| \$('.version_switch select').bind('change', on_switch); | |
| } | |
| }); | |
| })(); | |
| EOF | |
| git add version_switch.js | |
| git commit -m "Add version_switch.js" | |
| git push --force origin HEAD:refs/heads/yarp_it_pages-tmp | |
| - name: Generate redirect from top directory to latest | |
| run: | | |
| _yarp_url=$(echo ${YARP_URL} | sed 's/www\./\$1/g') | |
| cat > redirect.js << EOF | |
| (function() { | |
| function patch_url(url) { | |
| return url.replace(/${YARP_URL_RE}/, '${_yarp_url}latest/'); | |
| } | |
| function patch_missing_url(url) { | |
| return url.replace(/${YARP_URL_RE}.+/, '${_yarp_url}latest/'); | |
| } | |
| \$(document).ready(function() { | |
| var timeout = 0; // seconds | |
| var url = window.location.href; | |
| var new_url = patch_url(url); | |
| if (new_url != url) { | |
| // check beforehand if url exists, else redirect to version's start page | |
| \$.ajax({ | |
| url: new_url, | |
| success: function() { | |
| \$('head').append( '<meta http-equiv="refresh" content="' + timeout + '; url=' + new_url + '" />' ); | |
| \$('.textblock').html('<p>This page has moved.</p><p>If you are not redirected automatically within a few seconds, follow this link to the new address: <a href="' | |
| + new_url + '">' + new_url + "</a>.</p>"); | |
| setTimeout(function () { window.location.href = new_url; }, timeout * 1000); | |
| }, | |
| error: function() { | |
| new_url = patch_missing_url(url); | |
| \$('head').append( '<meta http-equiv="refresh" content="' + timeout + '; url=' + new_url + '" />' ); | |
| \$('.textblock').html('<p>This page no longer exists.</p><p>If you are not redirected automatically within a few seconds, follow this link to the YARP documentation: <a href="' | |
| + new_url + '">' + new_url + "</a>.</p>"); | |
| setTimeout(function () { window.location.href = new_url; }, timeout * 1000); | |
| } | |
| }); | |
| } else { | |
| // Either a local copy of the documentation, or on the wrong website. | |
| path = window.location.href.substring(0, window.location.href.lastIndexOf("/")); | |
| if (path != "") { | |
| path = path + "/"; | |
| } | |
| new_url = path + "latest/" + file; | |
| \$('head').append( '<meta http-equiv="refresh" content="' + timeout + '; url=' + new_url + '" />' ); | |
| \$('.textblock').html('<p>This page has moved.</p><p>If you are not redirected automatically within a few seconds, follow this link to the new address: <a href="' | |
| + new_url + '">' + new_url + "</a>.</p>"); | |
| setTimeout(function () { window.location.href = new_url; }, timeout * 1000); | |
| } | |
| }); | |
| })(); | |
| EOF | |
| cat > index.html << EOF | |
| <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> | |
| <html xmlns="http://www.w3.org/1999/xhtml"> | |
| <head> | |
| <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> | |
| <meta http-equiv="X-UA-Compatible" content="IE=9"/> | |
| <meta name="viewport" content="width=device-width, initial-scale=1"/> | |
| <title>YARP: Page Redirection</title> | |
| <link rel="shortcut icon" href="latest/yarp-favicon.ico" type="image/x-icon" /> | |
| <link href="latest/tabs.css" rel="stylesheet" type="text/css"/> | |
| <link href="latest/navtree.css" rel="stylesheet" type="text/css"/> | |
| <link href="latest/doxygen.css" rel="stylesheet" type="text/css" /> | |
| <link href="latest/yarp-doxygen-style.css" rel="stylesheet" type="text/css"/> | |
| <script type="text/javascript" src="latest/jquery.js"></script> | |
| <script type="text/javascript" src="latest/dynsections.js"></script> | |
| <script type="text/javascript" src="latest/resize.js"></script> | |
| <script type="text/javascript" src="latest/navtreedata.js"></script> | |
| <script type="text/javascript" src="latest/navtree.js"></script> | |
| <script type="text/javascript"> | |
| \$(document).ready(initResizable); | |
| </script> | |
| <script type="text/javascript" src="version_switch.js"></script> | |
| <script type="text/javascript"> | |
| \$(document).ready(function() { | |
| \$('#version-selector').load('some-local-path/menu.html'); | |
| }); | |
| </script> | |
| <script type="text/javascript" src="redirect.js"></script> | |
| </script> | |
| </head> | |
| <body> | |
| <div id="top"> | |
| <div id="titlearea"> | |
| <table cellspacing="0" cellpadding="0"> | |
| <tbody> | |
| <tr style="height: 56px;"> | |
| <td id="projectlogo"><img alt="Logo" src="latest/yarp-robot-64.png"/></td> | |
| <td id="projectalign" style="padding-left: 1.5em;"> | |
| <div id="projectname">YARP</div> | |
| <div id="projectbrief">Yet Another Robot Platform</div> | |
| </td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| </div> | |
| </div> | |
| <div id="side-nav" class="ui-resizable side-nav-resizable"> | |
| <div id="nav-tree"> | |
| <div id="nav-tree-contents"> | |
| <div id="nav-sync" class="sync"> </div> | |
| </div> | |
| </div> | |
| <div id="splitbar" style="-moz-user-select:none;" class="ui-resizable-handle"> </div> | |
| </div> | |
| <div id="doc-content"> | |
| <div class="header"> | |
| <div class="headertitle"> | |
| <div class="title">Page Moved</div> | |
| </div> | |
| </div> | |
| <div class="contents"> | |
| <div class="textblock"> | |
| </div> | |
| </div> | |
| </div> | |
| <div id="nav-path" class="navpath"> | |
| <ul> | |
| <li><span id="projectname_footer">YARP</span></li> | |
| <li><span id="projectnumber" class="version_switch"> | |
| <select> | |
| <option value="latest" selected="selected">latest | |
|            | |
|            | |
|            | |
|         </option> | |
| </select></span></li> | |
| <li class="footer"></li> | |
| </ul> | |
| </div> | |
| </body> | |
| </html> | |
| EOF | |
| for file in $(find latest/ -mindepth 1 -maxdepth 1 -name "*.html" | grep -v index.html); do | |
| ln -sfn index.html $(echo $file | sed 's|latest/||') | |
| done | |
| ln -sfn latest/yarp-favicon.ico favicon.ico | |
| git add redirect.js *.html favicon.ico | |
| git commit -m "Add redirect from top directory to latest" | |
| git push --force origin HEAD:refs/heads/yarp_it_pages-tmp | |
| - name: Generate CNAME file | |
| run: | | |
| echo -n ${YARP_CNAME} > CNAME | |
| git add CNAME | |
| git commit -m "Add CNAME file" | |
| git push --force origin HEAD:refs/heads/yarp_it_pages-tmp | |
| - name: Commit and push the yarp_it_pages branch | |
| run: | | |
| commit_yarp=$(git -C ${YARP_CHECKOUT_DIR} rev-parse origin/master) | |
| git commit -m "Generate documentation" --allow-empty -m "yarp: ${commit_yarp}" -m "yarp-documentation: ${GITHUB_SHA}" | |
| git push --force origin yarp_it_pages | |
| # Delete the temporary branch | |
| git push origin :yarp_it_pages-tmp |