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ci.yml
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name: CI Workflow
on:
push:
pull_request_target:
types: [opened, synchronize, reopened]
branches:
- 'master'
- 'yarp-*'
- 'feature/*'
- 'CI/*'
release:
types: [published]
jobs:
select_environment:
name: 'Prepare Environment'
runs-on: ubuntu-20.04
outputs:
timestamp: ${{ steps.select.outputs.timestamp }}
repository_owner: ${{ steps.select.outputs.repository_owner }}
repository_name: ${{ steps.select.outputs.repository_name }}
repository: ${{ steps.select.outputs.repository }}
ref: ${{ steps.select.outputs.ref }}
environment: ${{ steps.select.outputs.environment }}
sha: ${{ steps.select.outputs.sha }}
head_ref: ${{ steps.select.outputs.head_ref }}
base_ref: ${{ steps.select.outputs.base_ref }}
pr_number: ${{ steps.select.outputs.pr_number }}
yarp_version: ${{ steps.select.outputs.yarp_version }}
steps:
- name: "Set output variables"
id: select
run: |
echo "timestamp=$(/bin/date -u +%Y%m%d-%H%M%S)" >> $GITHUB_OUTPUT
echo "repository_owner=${{ github.repository_owner }}" >> $GITHUB_OUTPUT
echo "repository_name=$(cat $GITHUB_EVENT_PATH | jq -r .repository.name)" >> $GITHUB_OUTPUT
echo "repository=${{ github.repository }}" >> $GITHUB_OUTPUT
if [[ "$GITHUB_EVENT_NAME" = "pull_request_target" ]]; then
echo "environment=code-analysis_unsafe" >> $GITHUB_OUTPUT
echo "ref=refs/pull/$(cat $GITHUB_EVENT_PATH | jq -r .number)/merge" >> $GITHUB_OUTPUT
else
echo "environment=code-analysis" >> $GITHUB_OUTPUT
echo "ref=${{ github.ref }}" >> $GITHUB_OUTPUT
fi
if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
echo "sha=${{ github.event.pull_request.head.sha }}" >> $GITHUB_OUTPUT
echo "head_ref=${GITHUB_HEAD_REF}" >> $GITHUB_OUTPUT
echo "base_ref=${GITHUB_BASE_REF}" >> $GITHUB_OUTPUT
echo "pr_number=$(cat $GITHUB_EVENT_PATH | jq -r .number)" >> $GITHUB_OUTPUT
else
echo "sha=${{ github.sha }}" >> $GITHUB_OUTPUT
fi
# Get YARP Project Version
if [[ "$GITHUB_EVENT_NAME" = "release" ]]; then
echo "yarp_version=$(awk '/ VERSION /{print $2}' CMakeLists.txt)" >> $GITHUB_OUTPUT
fi
- name: 'Debug output variables'
env:
TIMESTAMP: ${{ steps.select.outputs.timestamp }}
REPOSITORY_OWNER: ${{ steps.select.outputs.repository_owner }}
REPOSITORY_NAME: ${{ steps.select.outputs.repository_name }}
REPOSITORY: ${{ steps.select.outputs.repository }}
REF: ${{ steps.select.outputs.ref }}
ENVIRONMENT: ${{ steps.select.outputs.environment }}
SHA: ${{ steps.select.outputs.sha }}
HEAD_REF: ${{ steps.select.outputs.head_ref }}
BASE_REF: ${{ steps.select.outputs.base_ref }}
PR_NUMBER: ${{ steps.select.outputs.pr_number }}
YARP_VERSION: ${{ steps.select.outputs.yarp_version }}
run: |
echo "TIMESTAMP = ${TIMESTAMP}"
echo "REPOSITORY_OWNER = ${REPOSITORY_OWNER}"
echo "REPOSITORY_NAME = ${REPOSITORY_NAME}"
echo "REPOSITORY = ${REPOSITORY}"
echo "REF = ${REF}"
echo "ENVIRONMENT = ${ENVIRONMENT}"
echo "SHA = ${SHA}"
echo "HEAD_REF = ${HEAD_REF}"
echo "BASE_REF = ${BASE_REF}"
echo "PR_NUMBER = ${PR_NUMBER}"
echo "YARP_VERSION = ${YARP_VERSION}"
- name: "Print Environment"
run: |
env
- name: "Print Event Json"
run: |
echo "::group::install jq"
sudo apt-get update -qq
sudo apt-get install -qq -y jq
echo "::endgroup::"
cat $GITHUB_EVENT_PATH | jq -C
check-license:
name: 'Check License'
needs: select_environment
runs-on: ubuntu-20.04
steps:
- name: Clone repository
uses: actions/checkout@v3
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Install Dependencies
run: |
sudo apt-get update -qq
sudo apt-get install -qq -y perl
- name: Check License
run: |
tests/misc/check_license.pl
check-style:
name: 'Check Style'
needs: select_environment
runs-on: ubuntu-20.04
steps:
- name: Clone repository
uses: actions/checkout@v3
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Install Dependencies
run: |
sudo apt-get update -qq
sudo apt-get install -qq -y perl
- name: Check Style
run: |
tests/misc/check_style.pl
# check-tests:
# name: 'Check Devices Tests'
# needs: select_environment
# runs-on: ubuntu-20.04
# steps:
# - name: Clone repository
# uses: actions/checkout@v3
# with:
# repository: ${{ needs.select_environment.outputs.repository }}
# ref: ${{ needs.select_environment.outputs.ref }}
# - name: Install Dependencies
# run: |
# sudo apt-get update -qq
# sudo apt-get install -qq -y python3
# - name: Check Devices Tests
# run: |
# python3 tests/misc/check_tests.py
run-cmake:
name: 'Run CMake [CMake ${{ matrix.config.cmake_version }} (${{ matrix.config.cmake_generator }}), YCM ${{ matrix.config.ycm_version }}]'
needs: [select_environment, check-license, check-style]
runs-on: ubuntu-20.04
strategy:
fail-fast: false
matrix:
config:
- {
cmake_version: "3.16.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.17.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.18.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.19.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.20.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.20.*",
cmake_generator: "Ninja",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.21.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.22.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.23.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.24.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
- {
cmake_version: "3.25.*",
cmake_generator: "Unix Makefiles",
ycm_version: "0.15.1",
}
steps:
- name: remove any previous installation of cmake
run: |
sudo rm /usr/local/bin/cmake
- name: install cmake
run: |
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
sudo apt-get update
sudo rm /usr/share/keyrings/kitware-archive-keyring.gpg
sudo apt-get -y install kitware-archive-keyring
sudo apt-cache policy cmake-data
sudo apt-cache policy cmake
sudo apt-get -y install cmake-data=${{matrix.config.cmake_version}}
sudo apt-get -y -f install cmake=${{matrix.config.cmake_version}}
- name: Print CMake version
run: |
which cmake
cmake --version
/usr/bin/cmake --version
- name: Get YCM package
run: |
wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.deb
sudo dpkg -i ycm-cmake-modules-0.15.1-all.deb
- name: Print YCM version
run: |
grep YCM_VERSION /usr/share/cmake/YCM/YCMConfig.cmake
- name: Clone Yarp repository
uses: actions/checkout@v3
with:
repository: ${{ needs.select_environment.outputs.repository }}
ref: ${{ needs.select_environment.outputs.ref }}
- name: Run CMake
run: |
mkdir build
cd build
cmake .. -DSKIP_ACE=ON
# build:
# name: '[${{ matrix.config.id }}][${{ matrix.config.os }}|${{ matrix.config.cc }}|${{ matrix.config.cmake_generator }} (${{ matrix.config.cmake_toolset }} ${{ matrix.config.cmake_platform }})|${{ matrix.config.build_type }}] ${{ matrix.config.description }}'
# needs: [select_environment, run-cmake]
# runs-on: ${{ matrix.config.os }}
# strategy:
# fail-fast: false
# matrix:
# config:
# - {
# id: '01',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# test_external_bindings: true,
# }
# - {
# id: '02',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# test_external_bindings: true,
# }
# - {
# id: '03',
# description: 'No ACE',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE=ON
# -DSKIP_ACE:BOOL=ON",
# test_external_bindings: true,
# }
# - {
# id: '04',
# description: 'No ACE',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
# -DSKIP_ACE:BOOL=ON",
# test_external_bindings: true,
# }
# - {
# id: '05',
# description: 'No YARP_math (bindings disabled)',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
# -DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
# -DYARP_COMPILE_libYARP_math:BOOL=OFF
# -DYARP_COMPILE_BINDINGS:BOOL=OFF",
# }
# - {
# id: '06',
# description: 'No YARP_math (bindings disabled)',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
# -DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
# -DYARP_COMPILE_libYARP_math:BOOL=OFF
# -DYARP_COMPILE_BINDINGS:BOOL=OFF",
# }
# - {
# id: '07',
# description: 'CLEAN_API (unit tests and bindings disabled)',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
# -DYARP_COMPILE_TESTS:BOOL=OFF
# -DYARP_COMPILE_BINDINGS:BOOL=OFF",
# }
# - {
# id: '08',
# description: 'CLEAN_API (unit tests and bindings disabled)',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
# -DYARP_COMPILE_TESTS:BOOL=OFF
# -DYARP_COMPILE_BINDINGS:BOOL=OFF",
# }
# - {
# id: '09',
# description: 'Static',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
# }
# - {
# id: '10',
# description: 'Static',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
# }
# - {
# id: '11',
# description: 'Static, no ACE (bindings disabled)',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
# -DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
# -DSKIP_ACE:BOOL=ON
# -DYARP_COMPILE_BINDINGS:BOOL=OFF",
# }
# - {
# id: '12',
# description: 'Static, no ACE (bindings disabled)',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
# -DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
# -DSKIP_ACE:BOOL=ON
# -DYARP_COMPILE_BINDINGS:BOOL=OFF",
# }
# - {
# id: '13',
# description: 'No deprecated',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
# }
# - {
# id: '14',
# description: 'No deprecated',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
# }
# - {
# id: '15',
# description: 'No executables (unit tests disabled)',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
# -DYARP_COMPILE_TESTS:BOOL=OFF",
# }
# - {
# id: '16',
# description: 'No executables (unit tests disabled)',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
# -DYARP_COMPILE_TESTS:BOOL=OFF",
# }
# - {
# id: '17',
# description: 'Build extern dependencies',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
# -DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
# -DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
# }
# - {
# id: '18',
# description: 'Build extern dependencies',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
# -DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
# -DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
# }
# - {
# id: '19',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Ninja",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# }
# - {
# id: '20',
# os: ubuntu-20.04,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Ninja",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# }
# - {
# id: '21',
# description: 'Valgrind (bindings, failing tests and examples as tests disabled)',
# os: ubuntu-20.04,
# build_type: "Debug",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# # These devices link to glib/gobject causing some memory leak on
# # valgrind, therefore they are not enabled on valgrind builds
# cmake_extra_options: "-DYARP_VALGRIND_TESTS:BOOL=ON
# -DYARP_DISABLE_FAILING_TESTS:BOOL=ON
# -DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
# -DYARP_COMPILE_BINDINGS:BOOL=OFF
# -DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
# -DENABLE_yarpcar_h264:BOOL=OFF
# -DENABLE_yarpcar_mjpeg:BOOL=OFF
# -DENABLE_yarppm_image_compression_ffmpeg:BOOL=OFF
# -DENABLE_yarpmod_usbCamera:BOOL=OFF
# -DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
# -DENABLE_yarpmod_ffmpeg_grabber:BOOL=OFF
# -DENABLE_yarpmod_ffmpeg_writer:BOOL=OFF
# -DENABLE_yarpmod_portaudio:BOOL=OFF
# -DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
# -DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
# -DENABLE_yarpmod_fakeMicrophone:BOOL=OFF
# -DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
# }
# - {
# id: '22',
# description: 'Valgrind, No ACE (bindings, failing tests and examples as tests disabled)',
# os: ubuntu-20.04,
# build_type: "Debug",
# cc: "gcc",
# cxx: "g++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
# # These devices link to glib/gobject causing some memory leak on
# # valgrind, therefore they are not enabled on valgrind builds
# cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
# -DSKIP_ACE:BOOL=ON
# -DYARP_VALGRIND_TESTS:BOOL=ON
# -DYARP_DISABLE_FAILING_TESTS:BOOL=ON
# -DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
# -DYARP_COMPILE_BINDINGS:BOOL=OFF
# -DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
# -DENABLE_yarpcar_h264:BOOL=OFF
# -DENABLE_yarpcar_mjpeg:BOOL=OFF
# -DENABLE_yarppm_image_compression_ffmpeg:BOOL=OFF
# -DENABLE_yarpmod_usbCamera:BOOL=OFF
# -DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
# -DENABLE_yarpmod_ffmpeg_grabber:BOOL=OFF
# -DENABLE_yarpmod_ffmpeg_writer:BOOL=OFF
# -DENABLE_yarpmod_portaudio:BOOL=OFF
# -DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
# -DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
# -DENABLE_yarpmod_fakeMicrophone:BOOL=OFF
# -DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
# }
# - {
# id: '23',
# os: windows-2019,
# build_type: "Release",
# cc: "cl",
# cxx: "cl",
# cmake_generator: "Visual Studio 16 2019",
# cmake_toolset: "v142",
# cmake_platform: "x64",
# cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
# cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
# environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
# }
# - {
# id: '24',
# os: windows-2019,
# build_type: "Release",
# cc: "cl",
# cxx: "cl",
# cmake_generator: "Visual Studio 16 2019",
# cmake_toolset: "v141",
# cmake_platform: "x64",
# cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
# cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
# environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
# }
# - {
# id: '25',
# os: windows-2019,
# build_type: "Release",
# cc: "cl",
# cxx: "cl",
# cmake_generator: "Ninja",
# cmake_toolset: "v142",
# cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
# cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
# environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
# }
# - {
# id: '26',
# os: windows-2019,
# build_type: "Release",
# cc: "cl",
# cxx: "cl",
# cmake_generator: "Ninja",
# cmake_toolset: "v141",
# cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
# cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
# environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
# }
# - {
# id: '27',
# os: macos-latest,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
# }
# - {
# id: '28',
# os: macos-latest,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Xcode",
# cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
# }
# - {
# id: '29',
# os: macos-11.0,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Unix Makefiles",
# cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
# }
# - {
# id: '30',
# os: macos-11.0,
# build_type: "Release",
# cc: "clang",
# cxx: "clang++",
# cmake_generator: "Xcode",
# cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
# }
# steps:
# - name: Clone repository
# uses: actions/checkout@v3
# with:
# repository: ${{ needs.select_environment.outputs.repository }}
# ref: ${{ needs.select_environment.outputs.ref }}
# - name: Handle cache
# uses: actions/cache@v3
# with:
# path: |
# .ccache
# key: build-${{ matrix.config.id }}-ccache-${{ github.ref }}-${{ needs.select_environment.outputs.timestamp }}
# restore-keys: |
# build-${{ matrix.config.id }}-${{ github.base_ref }}-ccache-
# build-${{ matrix.config.id }}-${{ github.ref }}-ccache-
# - name: Dependencies [Linux]
# if: runner.os == 'Linux'
# shell: bash
# run: |
# # Install Robotology dependencies from robotology ppa
# sudo apt-add-repository -y ppa:robotology/ppa
# sudo apt-get install -qq -y librobottestingframework-dev
# # Install cmake
# sudo apt-get install -qq -y cmake
# which cmake
# cmake --version
# /usr/bin/cmake --version
# # Install ycm
# wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.deb
# sudo dpkg -i ycm-cmake-modules-0.15.1-all.deb
# # Install build tools
# sudo apt-get install -qq -y ccache \
# ninja-build \
# valgrind
# sudo apt-get install -y libace-dev \
# sudo apt-get install -qq -y libsqlite3-dev \
# libtinyxml-dev \
# libedit-dev \
# qtbase5-dev \
# qtdeclarative5-dev \
# qtmultimedia5-dev \
# libqt5opengl5-dev \
# libqcustomplot-dev \
# libopencv-dev \
# libeigen3-dev \
# libgraphviz-dev \
# libgstreamer1.0-dev \
# libgstreamer-plugins-base1.0-dev \
# libpng-dev \
# libv4l-dev \
# libavcodec-dev \
# libavdevice-dev \
# libavformat-dev \
# libavutil-dev \
# portaudio19-dev \
# libsdl1.2-dev \
# libopenni2-dev \
# libftdi-dev \
# libi2c-dev \
# libfuse-dev \
# libjpeg-dev \
# libpcl-dev \
# libsoxr-dev
# # Install SWIG and bindings dependencies
# sudo apt-get install -qq -y swig \
# mono-mcs \
# liblua5.3-dev \
# lua5.3 \
# tcl-dev \
# tk-dev \
# python3-dev \
# liboctave-dev \
# default-jdk \
# ruby-dev \
# ruby \
# perl
# # Other tools useful in github actions
# sudo apt-get install -qq -y jq \
# wget \
# curl \
# lcov \
# gcovr \
# wget \
# curl \
# clang-11 \
# clang-tidy-11 \
# xsltproc \
# libxml2-utils \
# source-highlight
# # Remove old packages from apt cache
# sudo apt-get autoclean -qq
# - name: Dependencies [Windows]
# if: runner.os == 'Windows'
# run: |
# echo "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 --no-progress -y wget 7zip
# echo ""
# echo " Download and install SWIG"
# wget -nv https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.0.2/swigwin-4.0.2.zip -O swigwin.zip
# 7z x swigwin.zip
# mv swigwin-4.0.2/swig.exe swig.exe
# echo ""
# echo " 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"
# wget -nv https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/v0.6.0/vcpkg-robotology-yarp-only.zip
# 7z x -oC:\ vcpkg-robotology-yarp-only.zip
# echo ""
# echo " Download and install YCM "
# wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.tar.gz -O ycm.tar.gz
# 7z x ycm.tar.gz
# 7z x -ttar -oC:\robotology ycm.tar
# echo ""
# echo " Download and install ccache "
# wget -nv https://github.com/cristianadam/ccache/releases/download/v3.7.7/Windows.tar.xz -O ccache.tar.xz
# 7z x ccache.tar.xz
# 7z x -ttar ccache.tar
# - name: Dependencies [macOS]
# if: runner.os == 'macOS'
# run: |
# # Temporary workaround for https://github.com/actions/setup-python/issues/577
# rm -f /usr/local/bin/2to3
# rm -f /usr/local/bin/idle3
# rm -f /usr/local/bin/pydoc3
# rm -f /usr/local/bin/python3
# rm -f /usr/local/bin/python3-config
# rm -f /usr/local/bin/2to3-3.11
# rm -f /usr/local/bin/idle3.11
# rm -f /usr/local/bin/pydoc3.11
# rm -f /usr/local/bin/python3.11
# rm -f /usr/local/bin/python3.11-config
# wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.tar.gz -O /Users/runner/work/yarp/ycm.tar.gz
# 7z x /Users/runner/work/yarp/ycm.tar.gz -o/Users/runner/work/yarp
# 7z x -ttar /Users/runner/work/yarp/ycm.tar -o/Users/runner/work/yarp
# brew update
# brew install ccache
# brew install ace
# brew install sqlite tinyxml libedit libpng qt5 opencv eigen graphviz libsoxr
# - name: Prepare Environment Script
# id: prepare_environment_script
# shell: cmake -P {0}
# run: |
# cmake_minimum_required(VERSION 3.17)
# set(_env_script ${CMAKE_CURRENT_LIST_DIR}/environment_script.cmake)
# file(WRITE "${_env_script}" "")
# # if YCM is installed manually, set YCM_DIR to allow CMake to find it
# if("${{ runner.os }}" STREQUAL "Windows")
# file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"C:\\\\robotology\\\\YCM-0.15.1-all\")\n")
# elseif("${{ runner.os }}" STREQUAL "macOS")
# file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"/Users/runner/work/yarp/YCM-0.15.1-all\")\n")
# endif()
# if("${{ runner.os }}" STREQUAL "Windows" AND NOT "${{ matrix.config.environment_script }}" STREQUAL "")
# execute_process(
# COMMAND "${{ matrix.config.environment_script }}" && set
# OUTPUT_FILE environment_script_output.txt
# )
# file(STRINGS environment_script_output.txt output_lines)
# foreach(line IN LISTS output_lines)
# if(line MATCHES "^([a-zA-Z0-9_-]+)=(.*)$")
# set(_key "${CMAKE_MATCH_1}")
# set(_value "${CMAKE_MATCH_2}")
# string(REPLACE "\\" "\\\\" _value "${_value}")
# file(APPEND "${_env_script}" "set(ENV{${_key}} \"${_value}\")\n")
# endif()
# endforeach()
# # Ninja and other tools are downloaded in $GITHUB_WORKSPACE
# file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\")\n")
# # Append vcpkg bin directory to the PATH
# if("${{ matrix.config.build_type }}" STREQUAL "Release")
# file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\bin\")\n")
# else()
# file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\debug\\\\bin\")\n")
# endif()
# # Append output bin directory to the PATH
# if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio")
# file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\\\\${{ matrix.config.build_type }}\")\n")
# elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja")
# file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\")\n")
# endif()
# endif()
# file(APPEND "${_env_script}" "set(ENV{CC} ${{ matrix.config.cc }})\n")
# file(APPEND "${_env_script}" "set(ENV{CXX} ${{ matrix.config.cxx }})\n")
# if("${{ matrix.config.cc }}" MATCHES "gcc")
# file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fdiagnostics-color=always)\n")
# file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fdiagnostics-color=always)\n")
# elseif("${{ matrix.config.cc }}" MATCHES "clang")
# file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fcolor-diagnostics)\n")
# file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fcolor-diagnostics)\n")
# endif()
# file(APPEND "${_env_script}" "file(TO_CMAKE_PATH \"\$ENV{GITHUB_WORKSPACE}\" ccache_basedir)\n")
# file(APPEND "${_env_script}" "set(ENV{CCACHE_BASEDIR} \"\${ccache_basedir}\")\n")
# file(APPEND "${_env_script}" "set(ENV{CCACHE_DIR} \"\${ccache_basedir}/.ccache\")\n")
# file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESS} \"true\")\n")
# file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESSLEVEL} \"6\")\n")
# if("${{ matrix.config.cxx }}" STREQUAL "cl")
# file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"600M\")\n")
# else()
# file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"400M\")\n")
# endif()
# # Force ccache to build the original cpp file instead of the pre-processed file
# file(APPEND "${_env_script}" "set(ENV{CCACHE_CPP2} \"yes\")\n")
# # Prepend ccache lib dir on Linux and macOS
# if("${{ runner.os }}" STREQUAL "Linux")
# file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/lib/ccache:\$ENV{PATH}\")\n")
# elseif("${{ runner.os }}" STREQUAL "macOS")
# file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/local/opt/ccache/libexec:\$ENV{PATH}\")\n")
# endif()
# # CMake/CTest variables
# file(APPEND "${_env_script}" "set(ENV{CTEST_OUTPUT_ON_FAILURE} \"1\")\n")
# file(APPEND "${_env_script}" "set(ENV{CLICOLOR_FORCE} \"1\")\n")
# # YARP variables
# file(APPEND "${_env_script}" "set(ENV{YARP_PORT_RANGE} \"20000\")\n")
# # Add execute_process_x() macro
# file(APPEND "${_env_script}" "
# function(execute_process_x)
# set(_options)
# set(_oneValueArgs RESULT_VARIABLE WORKING_DIRECTORY)
# set(_multiValueArgs COMMAND)
# cmake_parse_arguments(_x \"\${_options}\" \"\${_oneValueArgs}\" \"\${_multiValueArgs}\" \${ARGN})
# string(REPLACE \";\" \" \" _cmd \"\${_x_COMMAND}\")
# string(REPLACE \"\\\\\" \"\\\\\\\\\" _cmd \"\${_cmd}\")
# message(STATUS \"\\n\$ \${_cmd}\")
# if(DEFINED _x_WORKING_DIRECTORY)
# set(_wd WORKING_DIRECTORY \"\${_x_WORKING_DIRECTORY}\")
# endif()
# execute_process(COMMAND \${_x_COMMAND}
# \${_wd}
# RESULT_VARIABLE _result)
# if(NOT _result EQUAL 0)
# message(WARNING \"The command \\\"\${_cmd}\\\" failed with result \\\"\${_result}\\\"\")
# endif()
# if(DEFINED _x_RESULT_VARIABLE)
# set(\${_x_RESULT_VARIABLE} \${_result} PARENT_SCOPE)
# endif()
# endfunction()
# ")
# message("::set-output name=environment_script::${_env_script}")
# - name: Print Environment Script
# shell: cmake -P {0}
# run: |
# cmake_minimum_required(VERSION 3.17)
# file(READ "${{ steps.prepare_environment_script.outputs.environment_script }}" _out)
# message("${_out}")
# - name: Print system information
# shell: cmake -P {0}
# run: |
# cmake_minimum_required(VERSION 3.17)
# include(${{ steps.prepare_environment_script.outputs.environment_script }})
# set(_which_cmd which)
# set(_env_cmd env)
# if("${{ runner.os }}" STREQUAL "Windows")
# set(_which_cmd where)
# set(_env_cmd env)
# endif()
# if(UNIX)
# execute_process_x(COMMAND uname -a)
# endif()
# if("${{ runner.os }}" STREQUAL "Linux")
# execute_process_x(COMMAND lsb_release -a)
# execute_process_x(COMMAND cat /etc/apt/sources.list)
# execute_process_x(COMMAND ls -la --color=always /etc/apt/sources.list.d)
# file(GLOB _list_files "/etc/apt/sources.list.d/*.list")
# foreach(_list_file IN LISTS _list_files)
# execute_process_x(COMMAND cat ${_list_file})
# endforeach()
# elseif("${{ runner.os }}" STREQUAL "macOS")
# execute_process_x(COMMAND system_profiler SPSoftwareDataType)
# elseif("${{ runner.os }}" STREQUAL "Windows")
# execute_process_x(COMMAND Systeminfo)
# endif()
# execute_process_x(COMMAND ${_which_cmd} cmake)
# execute_process_x(COMMAND cmake --version)
# if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio")
# execute_process_x(COMMAND ${_which_cmd} msbuild)
# execute_process_x(COMMAND msbuild /version)
# elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja")
# execute_process_x(COMMAND ${_which_cmd} ninja)
# execute_process_x(COMMAND ninja --version)
# elseif("${{ matrix.config.cmake_generator }}" MATCHES "Unix Makefiles")
# execute_process_x(COMMAND ${_which_cmd} make)
# execute_process_x(COMMAND make --version)
# elseif("${{ matrix.config.cmake_generator }}" MATCHES "Xcode")
# execute_process_x(COMMAND ${_which_cmd} xcodebuild)
# execute_process_x(COMMAND xcodebuild -version)
# endif()
# execute_process_x(COMMAND ${_which_cmd} $ENV{CC})
# execute_process_x(COMMAND ${_which_cmd} $ENV{CXX})
# if("$ENV{CC}" STREQUAL "cl")
# execute_process_x(COMMAND $ENV{CC})
# execute_process_x(COMMAND $ENV{CXX})
# else()
# execute_process_x(COMMAND $ENV{CC} --version)
# execute_process_x(COMMAND $ENV{CXX} --version)
# endif()