update CI #54
Workflow file for this run
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| name: Tests | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| schedule: | |
| - cron: "0 7 * * 0" | |
| env: | |
| ROBOTPKG_URL: "http://robotpkg.openrobots.org/packages/debian" | |
| ROS: "humble" | |
| UBUNTU: "jammy" | |
| jobs: | |
| test: | |
| name: "Test ${{ matrix.pm }} on ${{ matrix.os }} ${{ matrix.arch }}" | |
| runs-on: "${{ matrix.os }}-latest" | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| pm: ["pip", "conda", "nix"] | |
| os: ["ubuntu", "macos", "windows"] | |
| arch: ["main"] | |
| exclude: | |
| - pm: "pip" | |
| os: "windows" | |
| - pm: "nix" | |
| os: "windows" | |
| include: | |
| - pm: "robotpkg" | |
| os: "ubuntu" | |
| - pm: "ros" | |
| os: "ubuntu" | |
| - pm: "brew" | |
| os: "macos" | |
| - arch: "aarch64" | |
| os: "ubuntu" | |
| pm: "pip" | |
| - arch: "aarch64" | |
| os: "ubuntu" | |
| pm: "nix" | |
| steps: | |
| - uses: actions/checkout@v3 | |
| # aarch64 | |
| - name: Set up QEMU | |
| if: matrix.arch == 'aarch64' | |
| uses: docker/setup-qemu-action@v3 | |
| with: | |
| platforms: all | |
| # brew | |
| - if: matrix.pm == 'brew' | |
| uses: Homebrew/actions/setup-homebrew@master | |
| - if: matrix.pm == 'brew' | |
| run: brew install pinocchio | |
| - if: matrix.pm == 'brew' | |
| run: echo "PATH=/opt/homebrew/opt/python@3/libexec/bin:$PATH" >> $GITHUB_ENV | |
| # conda | |
| - if: matrix.pm == 'conda' | |
| uses: conda-incubator/setup-miniconda@v3 | |
| - if: matrix.pm == 'conda' | |
| run: conda install -n test -c conda-forge cmake cxx-compiler eigen eigenpy libboost-devel libboost-python-devel pinocchio | |
| - if: matrix.pm == 'conda' | |
| run: echo "CMAKE_PREFIX_PATH=$CONDA/envs/test" >> $GITHUB_ENV | |
| # nix | |
| - if: matrix.pm == 'nix' | |
| uses: cachix/install-nix-action@v30 | |
| - if: matrix.pm == 'nix' | |
| uses: cachix/cachix-action@v15 | |
| with: | |
| name: gepetto | |
| authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}' | |
| - if: matrix.pm == 'nix' | |
| run: > | |
| nix shell 'nixpkgs#python3Packages.pinocchio' -c | |
| nix develop 'nixpkgs#python3Packages.pinocchio' -c | |
| env | grep .=. >> $GITHUB_ENV | |
| # pip | |
| - if: matrix.pm == 'pip' | |
| uses: actions/setup-python@v4 # required only because macos-latest still has python 2 by default… | |
| with: | |
| python-version: "3.13" | |
| - if: matrix.pm == 'pip' | |
| run: pip install pin[build] | |
| - if: matrix.pm == 'pip' | |
| run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV | |
| # robotpkg | |
| - if: matrix.pm == 'robotpkg' | |
| run: sudo wget "${ROBOTPKG_URL}/robotpkg.gpg" -O /robotpkg.gpg | |
| - if: matrix.pm == 'robotpkg' | |
| run: > | |
| echo "deb [arch=amd64 signed-by=/robotpkg.gpg] ${ROBOTPKG_URL}/pub ${UBUNTU} robotpkg" | |
| | sudo tee /etc/apt/sources.list.d/robotpkg.list | |
| - if: matrix.pm == 'robotpkg' | |
| run: sudo apt-get update && sudo apt-get install -qy robotpkg-py3*-pinocchio | |
| - if: matrix.pm == 'robotpkg' | |
| run: echo "CMAKE_PREFIX_PATH=/opt/openrobots" >> $GITHUB_ENV | |
| # ros | |
| - if: matrix.pm == 'ros' | |
| run: sudo wget "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key" -O /ros.key | |
| - if: matrix.pm == 'ros' | |
| run: > | |
| echo "deb [arch=amd64 signed-by=/ros.key] http://packages.ros.org/ros2/ubuntu ${UBUNTU} main" | |
| | sudo tee /etc/apt/sources.list.d/ros.list | |
| - if: matrix.pm == 'ros' | |
| run: sudo apt-get update && sudo apt-get install -qy "ros-${ROS}-pinocchio" | |
| - if: matrix.pm == 'ros' | |
| run: echo "CMAKE_PREFIX_PATH=/opt/ros/${ROS}" >> $GITHUB_ENV | |
| # windows | |
| # thx https://gist.github.com/justinian/81a2e55c89e8301a8a96 & https://stackoverflow.com/a/74547513/1368502 | |
| - if: matrix.os == 'windows' | |
| run: > | |
| cmd /c '"%programfiles%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64 && set' | |
| | Select-String -Pattern "^(.*?)=(.*)$" | |
| | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| - run: cmake -B build -S . | |
| - run: cmake --build build | |
| - if: matrix.os != 'windows' | |
| run: ./build/main | |
| - if: matrix.os == 'windows' | |
| run: .\build\Debug\main.exe | |
| # TODO: way too long | |
| #test-arch: | |
| #runs-on: "ubuntu-latest" | |
| #container: ${{ matrix.container }} | |
| #strategy: | |
| #fail-fast: false | |
| #matrix: | |
| #container: ["archlinux/archlinux:base-devel"] | |
| #env: | |
| #MAKEFLAGS: -j4 | |
| #steps: | |
| #- uses: actions/checkout@v3 | |
| ## install paru | |
| #- run: pacman -Syu --noconfirm git | |
| #- run: useradd -mG wheel user | |
| #- run: echo "%wheel ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers | |
| #- run: git clone https://aur.archlinux.org/paru-bin.git | |
| #- run: chown -R user paru-bin | |
| #- run: su user -c "makepkg -D paru-bin -si --noconfirm" | |
| ## use paru to install pinocchio and its dependencies from AUR | |
| #- run: su user -c "paru -Syu --noconfirm pinocchio" | |
| #- run: cmake -B build -S . | |
| #- run: cmake --build build | |
| #- run: ./build/main |