build.yml

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 }}