Update README.md #54
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| name: ci | |
| on: | |
| pull_request: | |
| release: | |
| types: [ published ] | |
| push: | |
| tags: | |
| branches: | |
| - main | |
| - develop | |
| env: | |
| CLANG_TIDY_VERSION: "15.0.2" | |
| VERBOSE: 1 | |
| jobs: | |
| Test: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| # Recommendations: | |
| # * support at least 2 operating systems | |
| # * support at least 2 compilers | |
| # * make sure all supported configurations for your project are built | |
| # | |
| # Disable/enable builds in this list to meet the above recommendations | |
| # and your own projects needs | |
| matrix: | |
| os: | |
| - ubuntu-20.04 | |
| # - macos-11 | |
| # - windows-2019 | |
| compiler: | |
| # you can specify the version after `-` like "llvm-15.0.2". | |
| - llvm-15.0.2 | |
| - gcc-11 | |
| generator: | |
| - "Ninja Multi-Config" | |
| build_type: | |
| - Release | |
| - Debug | |
| package_maintainer_mode: | |
| - ON | |
| - OFF | |
| build_shared: | |
| - OFF | |
| exclude: | |
| # mingw is determined by this author to be too buggy to support | |
| - os: windows-2019 | |
| compiler: gcc-11 | |
| include: | |
| # Add appropriate variables for gcov version required. This will intentionally break | |
| # if you try to use a compiler that does not have gcov set | |
| - compiler: gcc-11 | |
| gcov_executable: gcov | |
| enable_ipo: On | |
| - compiler: llvm-15.0.2 | |
| enable_ipo: Off | |
| gcov_executable: "llvm-cov gcov" | |
| # - os: macos-11 | |
| # enable_ipo: Off | |
| # Set up preferred package generators, for given build configurations | |
| # TODO configure CPack properly currently it tries to package Mujoco libs but it is infeasible to build them on the CI | |
| # - build_type: Release | |
| # package_maintainer_mode: OFF | |
| # package_generator: TBZ2 | |
| # This exists solely to make sure a non-multiconfig build works | |
| - os: ubuntu-20.04 | |
| compiler: gcc-11 | |
| generator: "Unix Makefiles" | |
| build_type: Debug | |
| gcov_executable: gcov | |
| package_maintainer_mode: On | |
| enable_ipo: Off | |
| # Windows msvc builds | |
| # - os: windows-2022 | |
| # compiler: msvc | |
| # generator: "Visual Studio 17 2022" | |
| # build_type: Debug | |
| # package_maintainer_mode: On | |
| # enable_ipo: On | |
| # | |
| # - os: windows-2022 | |
| # compiler: msvc | |
| # generator: "Visual Studio 17 2022" | |
| # build_type: Release | |
| # package_maintainer_mode: On | |
| # enable_ipo: On | |
| # | |
| # - os: windows-2022 | |
| # compiler: msvc | |
| # generator: "Visual Studio 17 2022" | |
| # build_type: Debug | |
| # package_maintainer_mode: Off | |
| # | |
| # - os: windows-2022 | |
| # compiler: msvc | |
| # generator: "Visual Studio 17 2022" | |
| # build_type: Release | |
| # package_maintainer_mode: Off | |
| # package_generator: ZIP | |
| # | |
| # - os: windows-2022 | |
| # compiler: msvc | |
| # generator: "Visual Studio 17 2022" | |
| # build_type: Release | |
| # package_maintainer_mode: On | |
| # enable_ipo: On | |
| # build_shared: On | |
| steps: | |
| - name: Check for llvm version mismatches | |
| if: ${{ contains(matrix.compiler, 'llvm') && !contains(matrix.compiler, env.CLANG_TIDY_VERSION) }} | |
| uses: actions/github-script@v3 | |
| with: | |
| script: | | |
| core.setFailed('There is a mismatch between configured llvm compiler and clang-tidy version chosen') | |
| - uses: actions/checkout@v2 | |
| - name: Setup Cache | |
| uses: ./.github/actions/setup_cache | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build_type: ${{ matrix.build_type }} | |
| package_maintainer_mode: ${{ matrix.package_maintainer_mode }} | |
| generator: ${{ matrix.generator }} | |
| - name: Setup Cpp | |
| uses: aminya/setup-cpp@v1 | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| vcvarsall: ${{ contains(matrix.os, 'windows' )}} | |
| cmake: true | |
| ninja: true | |
| vcpkg: false | |
| ccache: true | |
| clangtidy: ${{ env.CLANG_TIDY_VERSION }} | |
| cppcheck: true | |
| gcovr: true | |
| opencppcoverage: true | |
| - name: Install deps | |
| if: runner.os != 'Windows' | |
| run: | | |
| if [ "${{ runner.os }}" == "Linux" ]; then | |
| sudo apt-get update && sudo apt-get install -y liburdfdom-dev libtinyxml2-dev && | |
| sudo apt-get install -y libxinerama-dev libxcursor-dev libxrandr-dev libxi-dev libgl-dev | |
| elif [ "${{ runner.os }}" == "macOS" ]; then | |
| brew install urdfdom | |
| brew install tinyxml2 | |
| fi | |
| - name: Install deps windows | |
| if: runner.os == 'Windows' | |
| run: | | |
| choco install make | |
| git clone https://github.com/ros/urdfdom.git | |
| Set-Location -Path urdfdom | |
| New-Item -ItemType Directory -Force -Path build | |
| Set-Location -Path build | |
| cmake .. | |
| make | |
| make install | |
| - name: Configure CMake | |
| run: | | |
| cmake -S . -B ./build -G "${{matrix.generator}}" -Dlegged_control_cpp_ENABLE_IPO=${{matrix.enable_ipo }} -DCMAKE_BUILD_TYPE:STRING=${{matrix.build_type}} -Dlegged_control_cpp_PACKAGING_MAINTAINER_MODE:BOOL=${{matrix.package_maintainer_mode}} -Dlegged_control_cpp_ENABLE_COVERAGE:BOOL=${{ matrix.build_type == 'Debug' }} -DGIT_SHA:STRING=${{ github.sha }} | |
| - name: Build | |
| # Execute the build. You can specify a specific target with "--target <NAME>" | |
| run: | | |
| cmake --build ./build --config ${{matrix.build_type}} --target legged_control_lib constexpr_tests relaxed_constexpr_tests inverse_dynamics_tests mjxml_parsing_tests urdf_sample joint_space_control forward_kinematics_tests | |
| - name: Unix - Test and coverage | |
| if: runner.os != 'Windows' | |
| working-directory: ./build | |
| # Execute tests defined by the CMake configuration. | |
| # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail | |
| run: | | |
| ctest -C ${{matrix.build_type}} | |
| gcovr -j ${{env.nproc}} --delete --root ../ --print-summary --xml-pretty --xml coverage.xml . --gcov-executable '${{ matrix.gcov_executable }}' | |
| - name: Windows - Test and coverage | |
| if: runner.os == 'Windows' | |
| working-directory: ./build | |
| run: | | |
| OpenCppCoverage.exe --export_type cobertura:coverage.xml --cover_children -- ctest -C ${{matrix.build_type}} | |
| - name: CPack | |
| if: matrix.package_generator != '' | |
| working-directory: ./build | |
| run: | | |
| cpack -C ${{matrix.build_type}} -G ${{matrix.package_generator}} | |
| - name: Publish Tagged Release | |
| uses: softprops/action-gh-release@v1 | |
| if: ${{ startsWith(github.ref, 'refs/tags/') && matrix.package_generator != '' }} | |
| with: | |
| files: | | |
| build/*-*${{ matrix.build_type }}*-*.* |