Merge branch 'master' into devel #1442
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| name: MATLAB Tests Workflow | |
| on: | |
| push: | |
| pull_request: | |
| schedule: | |
| # * is a special character in YAML so you have to quote this string | |
| # Execute a "nightly" build at 2 AM UTC | |
| - cron: '0 2 * * *' | |
| jobs: | |
| build-matlab-tests: | |
| name: '[matlab:${{ matrix.matlab_version }}:${{ matrix.os }}]' | |
| runs-on: ${{ matrix.os }} | |
| defaults: | |
| run: | |
| shell: bash -l {0} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-20.04, windows-2019, macos-latest] | |
| matlab_version: [R2020a, R2020b, R2021a, latest] | |
| exclude: | |
| # R2020* is not supported on Windows on GitHub Actions | |
| - os: windows-2019 | |
| matlab_version: R2020a | |
| build_type: Release | |
| - os: windows-2019 | |
| matlab_version: R2020b | |
| build_type: Release | |
| # R2020* is not working on macOS | |
| # See https://github.com/robotology/idyntree/issues/1015 | |
| - os: macos-latest | |
| matlab_version: R2020a | |
| build_type: Release | |
| - os: macos-latest | |
| matlab_version: R2020b | |
| build_type: Release | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| channels: conda-forge,robotology | |
| - name: Setup MATLAB | |
| uses: matlab-actions/setup-matlab@v1 | |
| with: | |
| release: ${{ matrix.matlab_version }} | |
| - name: Dependencies | |
| run: | | |
| # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 | |
| conda config --remove channels defaults | |
| # Compilation related dependencies | |
| mamba install cmake compilers make ninja pkg-config | |
| # Actual dependencies | |
| mamba install eigen libxml2 assimp ipopt irrlicht osqp-eigen glfw | |
| # Additional dependencies useful only on Linux | |
| - name: Dependencies [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| # Additional dependencies only useful on Linux | |
| # See https://github.com/robotology/robotology-superbuild/issues/477 | |
| mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 | |
| # Additional dependencies useful only on Windows | |
| - name: Dependencies [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| run: | | |
| # Additional dependencies only useful on Windows | |
| # See https://github.com/robotology/robotology-superbuild/issues/477 | |
| mamba install vs2019_win-64 | |
| # workaround for https://github.com/robotology/robotology-superbuild/issues/64 | |
| # and https://github.com/robotology/idyntree/issues/995 | |
| - name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | |
| echo "LD_PRELOAD=${CONDA_PREFIX}/lib/libstdc++.so.6" >> $GITHUB_ENV | |
| - name: Print used environment [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| mamba list | |
| env | |
| - name: Configure [Conda - Linux or macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON .. | |
| - name: Configure [Conda - Windows] | |
| if: contains(matrix.os, 'windows') | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON .. | |
| - name: Build | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Inspect libraries linked by iDynTreeMEX.mexa64 [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| cd build | |
| ldd ./lib/iDynTreeMEX.mexa64 | |
| - name: Test [Conda] | |
| run: | | |
| cd build | |
| # Only run matlab tests as the rest of tests are already run by other jobs | |
| ctest --output-on-failure -C ${{ matrix.build_type }} -R "matlab" -VV . | |
| - name: Install [Conda] | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} |