Mac OSX #30
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| name: Mac OSX | |
| on: | |
| push: | |
| branches: | |
| - master | |
| - 'dev**' | |
| pull_request: | |
| paths: | |
| - 'trajopt**' | |
| - '.github/workflows/mac.yml' | |
| - '**.repos' | |
| schedule: | |
| - cron: '0 5 * * *' | |
| release: | |
| types: | |
| - released | |
| env: | |
| VCPKG_PKGS: >- | |
| boost-dll boost-program-options boost-stacktrace | |
| boost-serialization boost-filesystem boost-format | |
| tinyxml2 console-bridge assimp | |
| urdfdom octomap orocos-kdl pcl | |
| gtest benchmark flann jsoncpp | |
| yaml-cpp eigen3 | |
| openblas | |
| fcl ompl taskflow | |
| bullet3[multithreading,double-precision,rtti] | |
| ccd[double-precision] gperftools | |
| jobs: | |
| build-macos: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - runner: macos-12 | |
| vcpkg_triplet: x64-osx-dynamic-release | |
| arch: x64 | |
| homebrew_root: /usr/local | |
| - runner: macos-14 | |
| vcpkg_triplet: arm64-osx-dynamic-release | |
| arch: arm64 | |
| homebrew_root: /opt/homebrew | |
| runs-on: ${{ matrix.config.runner }} | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: ws/src/trajopt | |
| - uses: actions/setup-python@v4 | |
| id: setup-python | |
| with: | |
| python-version: '3.12' | |
| - name: brew | |
| run: | | |
| brew install libomp cmake automake autoconf libtool gcc ninja | |
| - name: Setup cmake | |
| uses: jwlawson/actions-setup-cmake@v2 | |
| with: | |
| cmake-version: '3.28.x' | |
| - name: vcpkg build | |
| uses: johnwason/vcpkg-action@v6 | |
| with: | |
| pkgs: >- | |
| ${{ env.VCPKG_PKGS }} | |
| triplet: ${{ matrix.config.vcpkg_triplet }} | |
| extra-args: --clean-after-build --overlay-triplets=${{ github.workspace }}/ws/src/trajopt/.github/workflows/vcpkg_triplets | |
| token: ${{ github.token }} | |
| cache-key: osx-${{ matrix.config.arch }}-vcpkg | |
| revision: master | |
| github-binarycache: true | |
| - name: pip3 | |
| run: | | |
| python3 -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool | |
| - name: vcs import | |
| working-directory: ws/src | |
| run: vcs import --input trajopt/.github/workflows/windows_dependencies.repos | |
| - name: colcon build | |
| working-directory: ws | |
| run: | | |
| export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib | |
| export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }} | |
| colcon build --merge-install \ | |
| --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \ | |
| --event-handlers console_cohesion+ \ | |
| --cmake-force-configure \ | |
| --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \ | |
| -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \ | |
| -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF \ | |
| -DVCPKG_APPLOCAL_DEPS=OFF -DTRAJOPT_ENABLE_TESTING=ON \ | |
| -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \ | |
| -DOpenMP_CXX_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \ | |
| -DOpenMP_C_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \ | |
| -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \ | |
| -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \ | |
| -DOpenMP_libomp_LIBRARY=${{ matrix.config.homebrew_root }}/opt/libomp/lib/libomp.dylib | |
| - name: colcon test | |
| working-directory: ws | |
| run: | | |
| export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib | |
| export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }} | |
| colcon test --merge-install \ | |
| --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \ | |
| --event-handlers console_cohesion+ | |