linux.yml

name: CI - Linux via APT

on: [push,pull_request]

jobs:
  build:

    runs-on: ${{ matrix.os }}

    strategy:
      matrix:
        os: [ubuntu-22.04,ubuntu-20.04]

    env:
      CCACHE_DIR: /github/home/.ccache

    steps:
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
        submodules: recursive

    - name: Setup ccache
      uses: actions/cache@v3
      with:
        key: ${{ matrix.os }}
        path: ${{ env.CCACHE_DIR }}
        max-size: 5G

    # extract branch name
    - name: Get branch name (merge)
      if: github.event_name != 'pull_request'
      shell: bash
      run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV

    # extract branch name on pull request
    - name: Get branch name (pull request)
      if: github.event_name == 'pull_request'
      shell: bash
      run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV

    # print branch name
    - name: Debug
      run: echo ${{ env.BRANCH_NAME }}

    - name: Register robotpkg
      run: |
        sudo sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list "
        sudo apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key
    - name: Set and install dependencies
      run: |
        sudo rm -rf /usr/local/share/boost/1.69.0
        export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
        export APT_DEPENDENCIES="doxygen libboost-system-dev libboost-test-dev libboost-filesystem-dev libboost-program-options-dev libeigen3-dev liburdfdom-dev texlive-font-utils"
        export APT_DEPENDENCIES=$APT_DEPENDENCIES" libboost-python-dev robotpkg-py"$PYTHON3_VERSION"-eigenpy python3-numpy"
        export APT_DEPENDENCIES=$APT_DEPENDENCIES" robotpkg-py"$PYTHON3_VERSION"-hpp-fcl"
        echo $APT_DEPENDENCIES
        sudo apt-get update -qq
        sudo apt-get install -qq curl cppcheck ${APT_DEPENDENCIES}
        sudo apt install libomp-dev libomp5
    - name: Free disk space
      run: |
        sudo apt clean
        df -h
    - name: Install casadi
      run: |
        mkdir third-party && cd third-party
        git clone https://github.com/casadi/casadi.git -b 3.5.0 --depth 1
        cd casadi
        mkdir build && cd build
        export PATH="/usr/lib/ccache:/usr/local/opt/ccache/libexec:$PATH"
        cmake .. -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=OFF
        sudo make install
        cd ../..
        rm -rf casadi
        cd ..
    - name: Run cmake
      run: |
        git submodule update --init
        export PATH=$PATH:/opt/openrobots/bin
        export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
        export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages
        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
        export MAKEFLAGS="-j1"
        export PATH="/usr/lib/ccache:/usr/local/opt/ccache/libexec:$PATH"

        mkdir build
        cd build
        cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=ON -DBUILD_WITH_CASADI_SUPPORT=ON -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON
        make
        make build_tests
        export CTEST_OUTPUT_ON_FAILURE=1
        make test
        sudo make install

    - name: Test packaging
      run: |
        export PATH=$PATH:/opt/openrobots/bin
        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig
        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
        cd ./unittest/packaging/cmake
        mkdir build
        cd build
        export CMAKE_PREFIX_PATH=/usr/local
        cmake -DPYTHON_EXECUTABLE=$(which python3) ..
        make
        ./run_rnea
        ./load_urdf
        cd ../../pkgconfig
        mkdir build
        cd build
        cmake -DPYTHON_EXECUTABLE=$(which python3) ..
        make
        ./run_rnea
        cd ../../external
        export PINOCCHIO_GIT_REPOSITORY="file://"$GITHUB_WORKSPACE
        #export PINOCCHIO_GIT_REPOSITORY=$(git remote get-url origin)
        export PINOCCHIO_GIT_TAG="test-external-"$(git rev-parse --short HEAD)
        git tag $PINOCCHIO_GIT_TAG
        mkdir build
        cd build
        cmake -DPYTHON_EXECUTABLE=$(which python3) ..
        make
        ./run_rnea
        ./load_urdf
        cd ../../pinocchio_header
        mkdir build
        cd build
        cmake -DPYTHON_EXECUTABLE=$(which python3) ..
        make
        ./run_fk


    - name: Uninstall project
      run: |
        cd build
        sudo make uninstall