Nixpkg support for ConnectModules branch #1769

Workflow file for this run

	name: CI of mc_rtc

	on:
	push:
	paths-ignore:
	# Changes to those files don't mandate running CI
	- ".gitlab-ci.yml"
	- ".jrl-ci"
	- ".github/workflows/package.yml"
	- ".github/workflows/sources/*"
	- ".github/workflows/build-others.yml"
	- ".github/workflows/docker/*"
	- "debian/**"
	branches:
	- '**'
	pull_request:
	branches:
	- '**'

	env:
	# Branch that triggered this workflow
	GITHUB_BRANCH: ${{ github.head_ref \|\| github.ref_name }}

	jobs:
	build:
	strategy:
	fail-fast: false
	matrix:
	# temporarely disable macos-latest
	# temporarely disable windows-latest
	os: [ubuntu-22.04]
	build-type: [Debug, RelWithDebInfo]
	compiler: [gcc, clang]
	exclude:
	# Only default compiler on macos-latest and windows-latest
	- os: macos-latest
	compiler: clang
	- os: windows-latest
	compiler: clang
	# FIXME Windows Debug CI fails: tests are failing
	- os: windows-latest
	build-type: Debug
	runs-on: ${{ matrix.os }}
	steps:
	- name: Dump github context
	run: echo "$GITHUB_CONTEXT"
	shell: bash
	env:
	GITHUB_CONTEXT: ${{ toJson(github) }}
	- name: Set repository name based on event (pull_request/push)
	shell: bash
	run: \|
	if [[ "${{ github.event_name }}" == "pull_request" ]]; then
	echo "GITHUB_REPO_TRIGGER=${{ github.event.pull_request.head.repo.full_name }}" >> $GITHUB_ENV
	else
	echo "GITHUB_REPO_TRIGGER=${{ github.repository }}" >> $GITHUB_ENV
	fi
	- name: Use repository name
	shell: bash
	run: echo "The triggering repository is $GITHUB_REPO_TRIGGER"
	- name: Linux cleanup
	if: matrix.os == 'ubuntu-22.04'
	run: \|
	set -e
	sudo rm -rf /opt/hostedtoolcache/CodeQL
	sudo rm -rf /usr/local/lib/android
	echo "LD_LIBRARY_PATH=/usr/local/lib:/usr/local/lib/x86_64-linux-gnu/:${LD_LIBRARY_PATH}" >> $GITHUB_ENV
	- name: macOS cleanup
	if: startsWith(runner.os, 'macOS')
	run: \|
	sudo rm '/usr/local/bin/2to3'

	- name: Clone superbuild
	if: matrix.os != 'windows-latest'
	uses: actions/checkout@v4
	with:
	submodules: recursive
	repository: mc-rtc/mc-rtc-superbuild
	path: mc-rtc-superbuild

	- name: "[superbuild] Bootstrap"
	if: matrix.os != 'windows-latest'
	shell: bash
	run: \|
	cd ${GITHUB_WORKSPACE}/mc-rtc-superbuild
	./utils/bootstrap-linux.sh
	git config --global user.email "arn.tanguy@gmail.com"
	git config --global user.name "Arnaud Tanguy (Automated CI update)"
	- name: "[superbuild] Install system dependencies"
	if: matrix.os != 'windows-latest'
	shell: bash
	run: \|
	mkdir -p ${TMPDIR-/tmp}/build-mc-rtc
	cmake -S ${GITHUB_WORKSPACE}/mc-rtc-superbuild \
	-B ${TMPDIR-/tmp}/build-mc-rtc \
	-DCMAKE_BUILD_TYPE=RelWithDebInfo \
	-DINSTALL_DOCUMENTATION=ON \
	-DMC_RTC_SUPERBUILD_OVERRIDE_mc_rtc_GITHUB=${GITHUB_REPO_TRIGGER} \
	-DMC_RTC_SUPERBUILD_OVERRIDE_mc_rtc_GIT_TAG="origin/${GITHUB_BRANCH}"

	- name: "[superbuild] Install mc_rtc and related projects"
	if: matrix.os != 'windows-latest'
	shell: bash
	run: \|
	cmake --build ${TMPDIR-/tmp}/build-mc-rtc --config RelWithDebInfo

	# mc-rtc-superbuild does not support windows yet, build manually
	- uses: actions/checkout@v4
	with:
	submodules: recursive

	- name: "[windows] Install dependencies"
	if: matrix.os == 'windows-latest'
	uses: jrl-umi3218/github-actions/install-dependencies@master
	with:
	compiler: ${{ matrix.compiler }}
	build-type: ${{ matrix.build-type }}
	windows: \|
	pip: Cython coverage numpy pytest
	github:
	- path: eigenteam/eigen-git-mirror
	ref: 3.3.7
	- path: leethomason/tinyxml2
	ref: 7.1.0
	- path: libgeos/geos
	ref: 3.8.1
	options: -DBUILD_TESTING:BOOL=ON
	- path: nanomsg/nanomsg
	ref: 1.1.5
	- path: jbeder/yaml-cpp
	ref: 29dcf92f870ee51cce8d68f8fcfe228942e8dfe1
	options: -DYAML_CPP_BUILD_TESTS:BOOL=OFF
	windows-options: -DPYTHON_BINDING:BOOL=OFF
	github: \|
	- path: gabime/spdlog
	ref: v1.6.1
	options: -DSPDLOG_BUILD_EXAMPLE:BOOL=OFF -DSPDLOG_BUILD_SHARED:BOOL=ON
	- path: loco-3d/ndcurves
	ref: v1.1.5
	options: -DBUILD_PYTHON_INTERFACE:BOOL=OFF
	- path: jrl-umi3218/Eigen3ToPython
	- path: jrl-umi3218/SpaceVecAlg
	- path: jrl-umi3218/sch-core
	options: -DCMAKE_CXX_STANDARD=11
	- path: jrl-umi3218/eigen-qld
	- path: jrl-umi3218/sch-core-python
	- path: jrl-umi3218/RBDyn
	- path: jrl-umi3218/Tasks
	- path: jrl-umi3218/mc_rbdyn_urdf
	- path: jrl-umi3218/jvrc_description
	options: -DDISABLE_ROS:BOOL=ON
	- path: jrl-umi3218/mc_env_description
	options: -DDISABLE_ROS:BOOL=ON
	- path: jrl-umi3218/mc_int_obj_description
	options: -DDISABLE_ROS:BOOL=ON
	- path: jrl-umi3218/eigen-quadprog
	- path: jrl-umi3218/state-observation
	- path: jrl-umi3218/tvm
	options: -DTVM_WITH_ROBOT:BOOL=OFF
	- path: jrl-umi3218/mesh_sampling
	- name: "[windows] Build and test"
	if: matrix.os == 'windows-latest' && (matrix.build-type == 'RelWithDebInfo' \|\| (matrix.build-type == 'Debug' && github.ref == 'refs/heads/master'))
	uses: jrl-umi3218/github-actions/build-cmake-project@master
	with:
	compiler: ${{ matrix.compiler }}
	build-type: ${{ matrix.build-type }}
	windows-options: -DPYTHON_BINDING:BOOL=OFF

	- name: Generate directory listing for schemas
	# Only run on master branch and for one configuration
	if: matrix.os == 'ubuntu-22.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/topic/SchemaCompletion' && github.repository == 'arntanguy/mc_rtc'
	uses: jayanta525/github-pages-directory-listing@v4.0.0
	with:
	FOLDER: /tmp/build-mc-rtc/src/mc_rtc/doc/_data/schemas

	- name: Upload documentation
	# Only run on master branch and for one configuration
	if: matrix.os == 'ubuntu-22.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master' && github.repository == 'jrl-umi3218/mc_rtc'
	run: \|
	set -x
	pushd .
	cd ${TMPDIR-/tmp}/build-mc-rtc/src/mc_rtc/doc
	cp -r /usr/local/share/doc/mc_rtc/doxygen-html .
	find . -type f -print0 \| xargs -0 sed -i -e's@/usr/local/share/doc/SpaceVecAlg/doxygen-html/@https://jrl-umi3218.github.io/SpaceVecAlg/doxygen/HEAD/@g'
	find . -type f -print0 \| xargs -0 sed -i -e's@/usr/local/share/doc/RBDyn/doxygen-html/@https://jrl-umi3218.github.io/RBDyn/doxygen/HEAD/@g'
	find . -type f -print0 \| xargs -0 sed -i -e's@/usr/local/share/doc/Tasks/doxygen-html/@https://jrl-umi3218.github.io/Tasks/doxygen/HEAD/@g'
	find . -type f -print0 \| xargs -0 sed -i -e's@/usr/local/share/doc/sch-core/doxygen-html/@https://jrl-umi3218.github.io/sch-core/doxygen/HEAD/@g'
	find . -type f -print0 \| xargs -0 sed -i -e's@/usr/local/share/doc/mc_rbdyn_urdf/doxygen-html/@https://jrl-umi3218.github.io/mc_rbdyn_urdf/doxygen/HEAD/@g'
	find . -type f -print0 \| xargs -0 sed -i -e's@/usr/local/share/doc/TVM/doxygen-html/@https://jrl-umi3218.github.io/tvm/doxygen/HEAD/@g'
	sudo apt-get install -qq ruby-dev ruby-bundler libxml2-dev
	bundle install --path vendor
	git clone -b gh-pages https://gergondet:${{ secrets.GH_PAGES_TOKEN }}@github.com/jrl-umi3218/mc_rtc /tmp/website
	bundle exec jekyll build --trace -b /mc_rtc -d /tmp/website
	cp -r ${TMPDIR-/tmp}/build-mc-rtc/src/mc_rtc/doc/_data/schemas /tmp/website
	cd /tmp/website
	git add .
	git config --global user.email "arn.tanguy@gmail.com"
	git config --global user.name "Arnaud Tanguy (Automated CI update)"
	git commit -m "Website from commit ${GITHUB_SHA}"
	git push origin gh-pages
	popd
	- name: Slack Notification
	if: failure()
	uses: archive/github-actions-slack@master
	with:
	slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
	slack-channel: '#ci'
	slack-text: >
	[mc_rtc] Build ${{ matrix.os }}/${{ matrix.build-type }} (${{ matrix.compiler }}) failed on ${{ github.ref }}

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Nixpkg support for ConnectModules branch #1769

Workflow file

Nixpkg support for ConnectModules branch #1769

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Workflow file for this run