ci.yml

name: C++ CI Workflow

on:
  push:
  pull_request:

env:
  iDynTree_TAG: v10.0.0


jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Release, Debug]
        os: [ubuntu-latest, macOS-latest]
      fail-fast: false

    steps:
    - uses: actions/checkout@master

    # Print environment variables to simplify development and debugging
    - name: Environment Variables
      shell: bash
      run: env

    # ============
    # DEPENDENCIES
    # ============

    # Remove apt repos that are known to break from time to time
    # See https://github.com/actions/virtual-environments/issues/323
    - name: Remove broken apt repos [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    - name: Dependencies [macOS]
      if: matrix.os == 'macOS-latest'
      run: |
        brew update
        brew install eigen

    - name: Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        sudo apt-get update
        sudo apt-get install libeigen3-dev

    - name: Cache Source-based Dependencies
      id: cache-source-deps
      uses: actions/cache@v1
      with:
        path: ${{ github.workspace }}/install/deps
        # Including ${{ runner.temp }} is a workaround taken from https://github.com/robotology/whole-body-estimators/pull/62 to fix macos configuration failure on https://github.com/dic-iit/bipedal-locomotion-framework/pull/45
        key: source-deps-${{ runner.os }}-${{runner.temp}}-build-type-${{ matrix.build_type }}-iDynTree-${{ env.iDynTree_TAG }}

    - name: Source-based Dependencies [Ubuntu/macOS]
      if: steps.cache-source-deps.outputs.cache-hit != 'true' && (startsWith(matrix.os, 'ubuntu') || matrix.os == 'macos-latest')
      shell: bash
      run: |
        # iDynTree
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/iDynTree
        cd iDynTree
        git checkout ${iDynTree_TAG}
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
        cmake --build . --config ${{ matrix.build_type }} --target install


    # ===================
    # CMAKE-BASED PROJECT
    # ===================

    - name: Configure [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
              -DBUILD_TESTING:BOOL=ON ..

    - name: Configure [macOS]
      if: matrix.os == 'macOS-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
              -DBUILD_TESTING:BOOL=ON ..

    - name: Build
      shell: bash
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

    - name: Test
      shell: bash
      run: |
        cd build
        ctest --output-on-failure -C ${{ matrix.build_type }} .