build.yml

name: Build mc-rtc ports

on:
  push:
    branches:
      - '**'

jobs:
  build-packages:
    strategy:
      fail-fast: false
      matrix:
        os: [windows-latest, ubuntu-20.04, macos-latest]
    runs-on: ${{ matrix.os }}
    env:
      VCPKG_ROOT: ${{ github.workspace }}/vcpkg
    steps:
    - uses: actions/checkout@v2
    - name: Remove default installation
      shell: bash
      run: |
        rm -rf "$VCPKG_INSTALLATION_ROOT" || sudo rm -rf "$VCPKG_INSTALLATION_ROOT" || true
    - name: Restore cache
      uses: actions/cache@v2
      with:
        path: |
          ${{ env.VCPKG_ROOT }}
          !${{ env.VCPKG_ROOT }}/buildtrees
          !${{ env.VCPKG_ROOT }}/packages
          !${{ env.VCPKG_ROOT }}/downloads
        key: |
          vcpkg-1-${{ matrix.os }}-${{ github.sha }}
        restore-keys: |
          vcpkg-1-${{ matrix.os }}-
    - name: Clone vcpkg
      shell: bash
      run: |
        if [ ! -d vcpkg ]
        then
          echo "BOOTSTRAP_VCPKG=true" >> $GITHUB_ENV
          git clone --recursive https://github.com/microsoft/vcpkg || true
          echo "VCPKG_HEAD=`cd vcpkg && git rev-parse HEAD`" >> $GITHUB_ENV
        else
          cd vcpkg
          old_head=`git rev-parse HEAD`
          git pull
          new_head=`git rev-parse HEAD`
          if [ $old_head = $new_head ]
          then
            echo "BOOTSTRAP_VCPKG=false" >> $GITHUB_ENV
          else
            echo "BOOTSTRAP_VCPKG=true" >> $GITHUB_ENV
          fi
          echo "VCPKG_HEAD=${new_head}" >> $GITHUB_ENV
        fi
        if ${{ startsWith(runner.os, 'Windows') }}
        then
          echo "VCPKG_DEFAULT_TRIPLET=x64-windows" >> $GITHUB_ENV
        fi
        if ${{ startsWith(runner.os, 'Linux') }}
        then
          echo "VCPKG_DEFAULT_TRIPLET=x64-linux-dynamic" >> $GITHUB_ENV
        fi
    - name: Bootstrap vcpkg (Windows)
      if: startsWith(runner.os, 'Windows')
      shell: bash
      run: |
        if $BOOTSTRAP_VCPKG
        then
          cd vcpkg
          ./bootstrap-vcpkg.bat
        fi
    - name: Bootstrap vcpkg (Linux)
      if: startsWith(runner.os, 'Linux')
      run: |
        export CXX=g++ # Enforce default g++ selection
        sudo apt-get install -y python3-setuptools
        if $BOOTSTRAP_VCPKG
        then
          cd vcpkg
          ./bootstrap-vcpkg.sh
        fi
    - name: Bootstrap vcpkg (macOS)
      if: startsWith(runner.os, 'macOS')
      run: |
        brew unlink gcc && brew link gcc
        if $BOOTSTRAP_VCPKG
        then
          cd vcpkg
          ./bootstrap-vcpkg.sh -allowAppleClang
        fi
    - name: Setup vcpkg-configuration.json
      shell: bash
      run: |
        GITHUB_WORKSPACE=$(echo "${{ github.workspace }}" | sed -e's/\\/\\\\/g')
        cat <<EOF | tee vcpkg/vcpkg-configuration.json
        {
          "default-registry": {
            "kind": "git",
            "repository": "https://github.com/Microsoft/vcpkg",
            "baseline": "${VCPKG_HEAD}"
          },
          "registries":
          [
            {
              "kind": "git",
              "baseline": "${{ github.sha }}",
              "repository": "${GITHUB_WORKSPACE}",
              "packages": [ "spacevecalg", "rbdyn", "eigen-qld", "sch-core", "tasks", "mc-rbdyn-urdf", "mc-rtc-data", "eigen-quadprog", "state-observation", "hpp-spline", "ndcurves", "mc-rtc", "tvm", "libnotify" ]
            }
          ]
        }
        EOF
    - name: Install
      shell: bash
      run: |
        ./vcpkg/vcpkg remove --outdated --recurse
        echo "JRL_PORT=tvm" >> $GITHUB_ENV
        ./vcpkg/vcpkg install --feature-flags=registries --debug tvm
        echo "JRL_PORT=mc-rtc" >> $GITHUB_ENV
        ./vcpkg/vcpkg install --feature-flags=registries --debug mc-rtc
        rm -rf $VCPKG_ROOT/buildtrees
        rm -rf $VCPKG_ROOT/packages
        rm -rf $VCPKG_ROOT/downloads
    - name: Show logs
      if: failure()
      shell: bash
      run: |
        for f in `ls vcpkg/buildtrees/${JRL_PORT}/*.log`
        do
          echo "=========="
          echo "$f"
          echo "=========="
          cat $f
        done