[ci/packaging] Enable GitHub Actions

.github/workflows/Tasks.recipe

@@ -0,0 +1,3 @@
+# git-build-recipe format 0.4 deb-version {debversion}+{time}+{git-commit}
+https://github.com/jrl-umi3218/Tasks @REF@
+run git submodule update --init

.github/workflows/build.yml

@@ -0,0 +1,88 @@
+name: CI of Tasks
+
+on:
+  push:
+    branches:
+      - '**'
+  pull_request:
+    branches:
+      - '**'
+
+jobs:
+
+  clang-format:
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+    - name: Install clang-format-6.0
+      run: |
+        sudo apt-get -qq update
+        sudo apt-get -qq remove clang-6.0 libclang1-6.0 libclang-common-6.0-dev libllvm6.0
+        sudo apt-get -qq install clang-format-6.0 clang-format
+    - name: Run clang-format-check
+      run: |
+        ./.clang-format-check.sh
+
+  build:
+    needs: clang-format
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-16.04, ubuntu-18.04, macos-latest, windows-latest]
+        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
+
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        submodules: recursive
+    - name: Install dependencies
+      uses: jrl-umi3218/github-actions/install-dependencies@master
+      with:
+        compiler: ${{ matrix.compiler }}
+        build-type: ${{ matrix.build-type }}
+        ubuntu: |
+          apt: cython cython3 python-nose python3-nose python-numpy python3-numpy python-coverage python3-coverage python-setuptools python3-setuptools libeigen3-dev doxygen doxygen-latex libboost-all-dev
+        macos: |
+          cask: gfortran
+          brew: eigen boost
+          pip: Cython coverage nose numpy
+        windows: |
+          pip: Cython coverage nose numpy
+          github:
+            - path: eigenteam/eigen-git-mirror
+              ref: 3.3.7
+        github: |
+          - path: jrl-umi3218/Eigen3ToPython
+          - path: jrl-umi3218/SpaceVecAlg
+          - path: jrl-umi3218/sch-core
+          - path: jrl-umi3218/eigen-qld
+          - path: jrl-umi3218/sch-core-python
+          - path: jrl-umi3218/RBDyn
+    - name: Build and test
+      uses: jrl-umi3218/github-actions/build-cmake-project@master
+      with:
+        compiler: ${{ matrix.compiler }}
+        build-type: ${{ matrix.build-type }}
+    - name: Upload documentation
+      # Only run on master branch and for one configuration
+      if: matrix.os == 'ubuntu-18.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master'
+      uses: jrl-umi3218/github-actions/upload-documentation@master
+      with:
+        GH_USER: gergondet
+        GH_PAGES_TOKEN: ${{ secrets.GH_PAGES_TOKEN }}
+    - name: Slack Notification
+      if: failure()
+      uses: archive/github-actions-slack@master
+      with:
+        slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
+        slack-channel: '#ci'
+        slack-text: >
+          [Tasks] Build *${{ matrix.os }}/${{ matrix.build-type }}* failed on ${{ github.ref }}

.github/workflows/package.yml

@@ -0,0 +1,148 @@
+name: Package Tasks
+
+# This workflow only runs when pushing to master or pushing a tag
+#
+# On master, it will:
+# - Build packages for selected Debian/Ubuntu distro
+# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact-head
+#
+# On tagged versions it will:
+# - Create a GitHub release draft
+# - Attach the sources to the release
+# - Build packages for selected Debian/Ubuntu distro
+# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact
+# - Finalize the release
+
+on:
+  push:
+    branches:
+      - master
+    tags:
+      - v*
+
+jobs:
+  # For a given tag vX.Y.Z, this checks:
+  # - set(PROJECT_VERSION X.Y.Z) in CMakeLists.txt
+  # - version X.Y.Z in debian/changelog
+  # If these checks fail, the tag is automatically deleted
+  #
+  # This job does not run on the master branch
+  check-tag:
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        submodules: recursive
+      if: github.ref != 'refs/heads/master'
+    - name: Check version coherency
+      run: |
+        set -x
+        export VERSION=`echo ${{ github.ref }} | sed -e 's@refs/tags/v@@'`
+        echo "::set-env name=REJECTION::PROJECT_VERSION in CMakeLists.txt does not match tag"
+        grep -q "set(PROJECT_VERSION ${VERSION})" CMakeLists.txt
+        echo "::set-env name=REJECTION::Upstream version in debian/changelog does not match tag"
+        head -n 1 debian/changelog | grep -q "tasks (${VERSION}"
+        echo "::set-env name=REJECTION::"
+        export TAG=`echo ${{ github.ref }} | sed -e 's@refs/tags/@@'`
+        echo "::set-env name=RELEASE_TAG::${TAG}"
+      if: github.ref != 'refs/heads/master'
+    - name: Delete tag
+      run: |
+        set -x
+        curl --header 'authorization: Bearer ${{ secrets.GITHUB_TOKEN }}' -X DELETE https://api.github.com/repos/${{ github.repository }}/git/${{ github.ref }}
+      if: failure()
+    - name: Notify tag deletion
+      uses: archive/github-actions-slack@master
+      with:
+        slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
+        slack-channel: '#ci'
+        slack-text: >
+          Tag *${{ github.ref }}* in *${{ github.repository }}* was deleted:
+            ${{ env.REJECTION}}
+      if: failure()
+    - name: Create release
+      uses: jrl-umi3218/github-actions/create-release@master
+      with:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        tag: ${{ env.RELEASE_TAG }}
+      if: github.ref != 'refs/heads/master'
+  # This job build binary packages for Ubuntu
+  build-packages:
+    needs: check-tag
+    strategy:
+      fail-fast: false
+      matrix:
+        dist: [xenial, bionic, focal]
+        arch: [i386, amd64]
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v1
+    - name: Prepare recipe
+      run: |
+        set -x
+        cp .github/workflows/Tasks.recipe /tmp/Tasks.recipe
+        export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+        sed -i "s#@REF@#${REF}#" /tmp/Tasks.recipe
+        if [ $REF == "master" ]
+        then
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-head"
+        else
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-release"
+        fi
+        echo "Prepared recipe"
+        echo "###############"
+        cat /tmp/Tasks.recipe
+    - name: Build package
+      uses: jrl-umi3218/github-actions/build-package@master
+      with:
+        dist: ${{ matrix.dist }}
+        arch: ${{ matrix.arch }}
+        recipe: /tmp/Tasks.recipe
+        other-mirrors: ${{ env.EXTRA_MIRROR }}
+        other-gpg-keys: "0x892EA6EE273707C6495A6FB6220D644C64666806"
+    - uses: actions/upload-artifact@v1
+      with:
+        name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+        path: /tmp/packages-${{ matrix.dist }}-${{ matrix.arch }}/
+  # This job upload binary packages for Ubuntu
+  upload-packages:
+    needs: build-packages
+    strategy:
+      max-parallel: 1
+      fail-fast: false
+      matrix:
+        dist: [xenial, bionic, focal]
+        arch: [i386, amd64]
+    runs-on: ubuntu-18.04
+    steps:
+    - name: Set upload parameters
+      run: |
+        export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+        if [ $REF == "master" ]
+        then
+          echo "::set-env name=BINTRAY_REPO::multi-contact-head"
+          echo "::set-env name=BINTRAY_VERSION::HEAD"
+        else
+          echo "::set-env name=BINTRAY_REPO::multi-contact-release"
+          echo "::set-env name=BINTRAY_VERSION::${REF}"
+        fi
+    - name: Download packages
+      uses: actions/download-artifact@v1
+      with:
+        name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+    - name: Upload
+      uses: jrl-umi3218/github-actions/upload-package@master
+      with:
+        dist: ${{ matrix.dist }}
+        arch: ${{ matrix.arch }}
+        subject: gergondet
+        repo: ${{ env.BINTRAY_REPO }}
+        package: |
+          name: Tasks
+          desc: "Real-time contorl for kinematics tree and list of kinematics tree"
+          licenses: [BSD 2-Clause]
+          vcs_url: https://github.com/jrl-umi3218/Tasks
+        version: ${{ env.BINTRAY_VERSION }}
+        path: packages-${{ matrix.dist }}-${{ matrix.arch }}
+        BINTRAY_API_KEY: ${{ secrets.BINTRAY_API_KEY }}
+        GPG_PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}

.gitmodules

@@ -1,6 +1,3 @@
 [submodule "cmake"]
 	path = cmake
 	url = https://github.com/jrl-umi3218/jrl-cmakemodules
-[submodule ".travis"]
-	path = .travis
-	url = https://github.com/jrl-umi3218/jrl-travis

README.md

@@ -2,9 +2,8 @@ Tasks
 =====
 
 [![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
-[![Build Status](https://travis-ci.org/jrl-umi3218/Tasks.svg?branch=master)](https://travis-ci.org/jrl-umi3218/Tasks)
-[![AppVeyor status](https://ci.appveyor.com/api/projects/status/kteqpch13y0ac3wq/branch/master?svg=true)](https://ci.appveyor.com/project/gergondet/tasks/branch/master)
 [ ![Download](https://api.bintray.com/packages/gergondet/multi-contact/Tasks%3Agergondet/images/download.svg) ](https://bintray.com/gergondet/multi-contact/Tasks%3Agergondet/_latestVersion)
+[![CI](https://github.com/jrl-umi3218/Tasks/workflows/CI%20of%20Tasks/badge.svg?branch=master)](https://github.com/jrl-umi3218/Tasks/actions?query=workflow%3A%22CI+of+Tasks%22)
 [![Documentation](https://img.shields.io/badge/doxygen-online-brightgreen?logo=read-the-docs&style=flat)](http://jrl-umi3218.github.io/Tasks/doxygen/HEAD/index.html)
 
 Tasks is library for real time control of robots and kinematic trees using constrained optimization.
@@ -38,13 +37,21 @@ An online documentation can be found [online](https://jrl-umi3218.github.io/Task
 Installing
 ----------
 
-## Ubuntu LITS (14.04, 16.04, 18.04): PPA
+## Ubuntu LTS (16.04, 18.04, 20.04)
 
-Use the [multi-contact-unstable](https://launchpad.net/~pierre-gergondet+ppa/+archive/ubuntu/multi-contact-unstable) ppa:
 ```bash
-sudo add-apt-repository ppa:pierre-gergondet+ppa/multi-contact-unstable
-sudo apt-get update
-sudo apt-get install libtasks-dev libtasks-qld-doc python-tasks-qld python3-tasks-qld
+# Make sure you have required tools
+sudo apt install apt-transport-https lsb-release ca-certificates gnupg
+# Add our key
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 892EA6EE273707C6495A6FB6220D644C64666806
+# Add our repository (stable versions)
+sudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-release $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'
+# Use this to setup the HEAD version
+# sudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-head $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'
+# Update packages list
+sudo apt update
+# Install packages
+sudo apt install libtasks-dev python-tasks python3-tasks
 ```
 
 ## Homebrew OS X install