ci.yml

name: C++ CI 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:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}@yarp:${{ matrix.yarp_version }}@gazebo:${{ matrix.gazebo_version }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Release, Debug]
        os: [ubuntu-18.04, ubuntu-20.04, macOS-latest]
        yarp_version: [yarp-3.4]
        # Dummy value to specify additional combination in the include matrix, see
        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-new-combinations
        combination: [0]
        include:
          - os: ubuntu-18.04
            combination: 0
            gazebo_version: gazebo9
          - os: ubuntu-18.04
            combination: 1
            gazebo_version: gazebo10
            yarp_version: yarp-3.4
            build_type: Release
          - os: ubuntu-20.04
            gazebo_version: gazebo11
          - os: macOS-latest
            gazebo_version: gazebo11
    steps:
    - uses: actions/checkout@v2
        
    # Print environment variables to simplify development and debugging
    - name: Environment Variables
      shell: bash
      run: env
        
    # ============
    # DEPENDENCIES
    # ============
            
    - name: Dependencies [macOS]
      if: matrix.os == 'macOS-latest'
      shell: bash
      run: |
        # https://github.com/actions/virtual-environments/issues/2322
        rm -f /usr/local/bin/2to3
        # https://github.com/actions/virtual-environments/issues/2391
        brew unlink gcc@8
        brew unlink gcc@9
        brew update
        brew upgrade
        brew install --cask xquartz
        brew install ace eigen opencv@3 osrf/simulation/${{ matrix.gazebo_version }}
    
    - name: Dependencies [Ubuntu]
      if: contains(matrix.os, 'ubuntu')
      shell: bash
      run: |
        sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list'
        wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
        sudo apt-get update
        sudo apt-get install git build-essential cmake libace-dev libeigen3-dev libopencv-dev 
        sudo apt-get install lib${{ matrix.gazebo_version }}-dev
        
    - name: Source-based Dependencies [Ubuntu/macOS] 
      if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest'
      shell: bash
      run: |
        # YCM
        git clone https://github.com/robotology/ycm
        cd ycm
        git checkout ycm-0.11
        mkdir -p build
        cd build
        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
        cmake --build . --config ${{ matrix.build_type }} --target install 
        # YARP
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/yarp
        cd yarp
        git checkout ${{ matrix.yarp_version }}
        mkdir -p build
        cd build
        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
        cmake --build . --config ${{ matrix.build_type }} --target install 
 
    # ===================
    # CMAKE-BASED PROJECT
    # ===================
   
    - name: Configure [Ubuntu/macOS]
      if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build    
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -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
      # Workaround for https://github.com/robotology/gazebo-yarp-plugins/issues/530
      if: contains(matrix.os, 'ubuntu')
      shell: bash
      run: |
        cd build
        # Workaround for https://github.com/robotology/gazebo-yarp-plugins/issues/536
        ctest --output-on-failure -C ${{ matrix.build_type }} -E "ControlBoardControlTest" . 

    - name: Install [Ubuntu/macOS]
      if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest'
      shell: bash
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }} --target install