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Apply external forces in Bullet actuation interface #51
Workflow file for this run
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| name: CI | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| jobs: | |
| build_host: | |
| name: "Build for ${{ matrix.os }} host platform" | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, macos-latest] | |
| steps: | |
| - name: "Checkout sources" | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: "Build the library with default configuration" | |
| env: | |
| BAZELISK_GITHUB_TOKEN: ${{ secrets.BAZELISK_GITHUB_TOKEN }} | |
| run: | | |
| tools/bazelisk build --compilation_mode=fastbuild //... | |
| build_pi3hat: | |
| name: "Build for the pi3hat target platform" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: "Checkout sources" | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: "Install build dependencies" | |
| run: | | |
| sudo apt-get update && sudo apt-get install -y libtinfo5 | |
| - name: "Build targets for the pi64 configuration" | |
| env: | |
| BAZELISK_GITHUB_TOKEN: ${{ secrets.BAZELISK_GITHUB_TOKEN }} | |
| run: | | |
| tools/bazelisk build //vulp/actuation/tests:pi3hat_interface_test --config pi64 | |
| coverage: | |
| name: "Coverage" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: "Checkout sources" | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: "Set up Python 3.10" | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: "3.10" | |
| - name: "Install PyPI dependencies" | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install msgpack | |
| - name: "Report test coverage" | |
| run: | | |
| tools/bazelisk coverage --combined_report=lcov --instrument_test_targets //... | |
| - name: "Submit report to Coveralls" | |
| uses: coverallsapp/github-action@1.1.3 | |
| with: | |
| github-token: ${{ secrets.github_token }} | |
| path-to-lcov: ${{ github.workspace }}/bazel-out/_coverage/_coverage_report.dat | |
| lint: | |
| name: "Lint code" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: "Checkout sources" | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: "Check clang-format version" | |
| run: | | |
| clang-format --version | |
| - name: "Check code formatting" | |
| env: | |
| BAZELISK_GITHUB_TOKEN: ${{ secrets.BAZELISK_GITHUB_TOKEN }} | |
| run: | | |
| tools/bazelisk test --compilation_mode=fastbuild --config lint //... | |
| test: | |
| name: "Test for ${{ matrix.os }} with python-${{ matrix.python-version }}" | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, macos-latest] | |
| python-version: ["3.8", "3.9", "3.10", "3.11"] | |
| steps: | |
| - name: "Checkout sources" | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: "Set up Python ${{ matrix.python-version }}" | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: "${{ matrix.python-version }}" | |
| - name: "Install PyPI dependencies" | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install msgpack | |
| - name: "Check unit tests" | |
| env: | |
| BAZELISK_GITHUB_TOKEN: ${{ secrets.BAZELISK_GITHUB_TOKEN }} | |
| run: | | |
| tools/bazelisk test //... | |
| ci_success: | |
| name: "CI success" | |
| runs-on: ubuntu-latest | |
| needs: [build_host, build_pi3hat, coverage, lint, test] | |
| steps: | |
| - run: echo "CI workflow completed successfully" |