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build: move ci to github actions
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‎.github/workflows/build.yml‎

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name: Build and Test
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on:
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push:
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pull_request:
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jobs:
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build_jammy:
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name: Build and Test (Jammy)
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runs-on: ubuntu-latest
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concurrency:
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group: jammy-${{ github.ref }}
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cancel-in-progress: true
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container:
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image: ghcr.io/dairlab/docker-dair/jammy-dair-base:v1.42.0-2
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credentials:
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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steps:
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- uses: actions/checkout@v4
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- name: Restore Bazel cache
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id: cache-restore
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uses: actions/cache/restore@v4
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with:
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path: ~/.cache/bazel
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key: dairlib-bazel-jammy-${{ hashFiles('MODULE.bazel', '**/BUILD.bazel') }}
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restore-keys: |
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dairlib-bazel-jammy-
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- name: Check clang format
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run: |
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apt-get update -qq && apt-get install -y clang-format
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./tools/scripts/check_format.sh
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- name: Build
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run: |
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bazel build \
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--local_resources=ram=14000 \
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--local_resources=cpu=4 \
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--jobs=4 \
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//...
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- name: Test
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run: |
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bazel test \
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--local_resources=ram=14000 \
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--local_resources=cpu=4 \
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--jobs=4 \
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--test_output=all \
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//...
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- name: Upload test results
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uses: actions/upload-artifact@v4
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if: always()
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with:
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name: jammy-test-results
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path: bazel-testlogs/**/test.xml
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- name: Save Bazel cache
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if: always() && !cancelled() && steps.cache-restore.outputs.cache-hit != 'true'
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uses: actions/cache/save@v4
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with:
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key: ${{ steps.cache-restore.outputs.cache-primary-key }}
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path: ~/.cache/bazel
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build_noble:
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name: Build and Test (Noble)
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runs-on: ubuntu-latest
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concurrency:
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group: noble-${{ github.ref }}
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cancel-in-progress: true
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container:
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image: ghcr.io/dairlab/docker-dair/noble-dair-base:v1.42.0-2
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credentials:
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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steps:
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- uses: actions/checkout@v4
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- name: Restore Bazel cache
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id: cache-restore
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uses: actions/cache/restore@v4
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with:
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path: ~/.cache/bazel
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key: dairlib-bazel-noble-${{ hashFiles('MODULE.bazel', '**/BUILD.bazel') }}
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restore-keys: |
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dairlib-bazel-noble-
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- name: Check clang format
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run: |
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apt-get update -qq && apt-get install -y clang-format
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./tools/scripts/check_format.sh
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- name: Build
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run: |
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bazel build \
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--local_resources=ram=14000 \
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--local_resources=cpu=4 \
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--jobs=4 \
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//...
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- name: Test
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run: |
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bazel test \
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--local_resources=ram=14000 \
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--local_resources=cpu=4 \
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--jobs=4 \
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--test_output=all \
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//...
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- name: Upload test results
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uses: actions/upload-artifact@v4
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if: always()
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with:
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name: noble-test-results
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path: bazel-testlogs/**/test.xml
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- name: Save Bazel cache
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if: always() && !cancelled() && steps.cache-restore.outputs.cache-hit != 'true'
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uses: actions/cache/save@v4
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with:
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key: ${{ steps.cache-restore.outputs.cache-primary-key }}
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path: ~/.cache/bazel
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drake_master_build:
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name: Build against Drake master
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runs-on: ubuntu-latest
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continue-on-error: true
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container:
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image: ghcr.io/dairlab/docker-dair/jammy-dair-base:v1.42.0-2
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credentials:
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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steps:
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- uses: actions/checkout@v4
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- name: Clone Drake master
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run: git clone https://github.com/RobotLocomotion/drake.git ../drake
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- name: Build
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run: |
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bazel build \
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--override_module=drake=$PWD/../drake \
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--local_resources=ram=14000 \
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--local_resources=cpu=4 \
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--jobs=4 \
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//...
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- name: Test
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run: |
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bazel test \
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--override_module=drake=$PWD/../drake \
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--local_resources=ram=14000 \
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--local_resources=cpu=4 \
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--jobs=4 \
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//...

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