Tests #183
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Tests | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| schedule: | |
| - cron: "0 7 * * 0" | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| env: | |
| ROBOTPKG_URL: "http://robotpkg.openrobots.org/packages/debian" | |
| ROS: "jazzy" | |
| UBUNTU: "noble" | |
| jobs: | |
| test: | |
| name: "Test ${{ matrix.pm }} on ${{ matrix.os }}" | |
| runs-on: "${{ matrix.os }}" | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| pm: ["pip", "conda", "nix"] | |
| os: ["ubuntu-24.04", "ubuntu-24.04-arm", "macos-15-intel", "macos-15", "windows-latest"] | |
| exclude: | |
| - pm: "pip" | |
| os: "windows-latest" | |
| - pm: "nix" | |
| os: "windows-latest" | |
| include: | |
| - pm: "robotpkg" | |
| os: "ubuntu-24.04" | |
| - pm: "ros" | |
| os: "ubuntu-24.04" | |
| - pm: "brew" | |
| os: "macos-15" | |
| steps: | |
| - uses: actions/checkout@v5 | |
| # brew | |
| - if: matrix.pm == 'brew' | |
| uses: Homebrew/actions/setup-homebrew@master | |
| - if: matrix.pm == 'brew' | |
| run: brew install pinocchio | |
| # conda | |
| - if: matrix.pm == 'conda' | |
| uses: conda-incubator/setup-miniconda@v3 | |
| with: | |
| miniforge-version: latest | |
| activate-environment: pinocchio | |
| environment-file: .github/workflows/conda/environment.yml | |
| auto-activate-base: false | |
| auto-update-conda: true | |
| conda-remove-defaults: true | |
| # nix | |
| - if: matrix.pm == 'nix' | |
| uses: cachix/install-nix-action@v31 | |
| - if: matrix.pm == 'nix' | |
| run: > | |
| nix shell 'nixpkgs#python3Packages.pinocchio' -c | |
| nix develop 'nixpkgs#python3Packages.pinocchio' -c | |
| env | grep .=. >> $GITHUB_ENV | |
| - if: matrix.pm == 'nix' | |
| run: echo "CMAKE_PREFIX_PATH=${NIXPKGS_CMAKE_PREFIX_PATH}" >> $GITHUB_ENV | |
| # pip | |
| - if: matrix.pm == 'pip' | |
| uses: actions/setup-python@v6 | |
| with: | |
| python-version: "3.14" | |
| - if: matrix.pm == 'pip' | |
| run: pip install pin[build] | |
| - if: matrix.pm == 'pip' | |
| run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV | |
| # robotpkg | |
| - if: matrix.pm == 'robotpkg' | |
| run: sudo wget "${ROBOTPKG_URL}/robotpkg.gpg" -O /robotpkg.gpg | |
| - if: matrix.pm == 'robotpkg' | |
| run: > | |
| echo "deb [arch=amd64 signed-by=/robotpkg.gpg] ${ROBOTPKG_URL}/pub ${UBUNTU} robotpkg" | |
| | sudo tee /etc/apt/sources.list.d/robotpkg.list | |
| - if: matrix.pm == 'robotpkg' | |
| run: sudo apt-get update && sudo apt-get install -qy robotpkg-py3*-pinocchio | |
| - if: matrix.pm == 'robotpkg' | |
| run: echo "CMAKE_PREFIX_PATH=/opt/openrobots" >> $GITHUB_ENV | |
| # ros | |
| - if: matrix.pm == 'ros' | |
| run: sudo wget "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key" -O /ros.key | |
| - if: matrix.pm == 'ros' | |
| run: > | |
| echo "deb [arch=amd64 signed-by=/ros.key] http://packages.ros.org/ros2/ubuntu ${UBUNTU} main" | |
| | sudo tee /etc/apt/sources.list.d/ros.list | |
| - if: matrix.pm == 'ros' | |
| run: sudo apt-get update && sudo apt-get install -qy "ros-${ROS}-pinocchio" | |
| - if: matrix.pm == 'ros' | |
| run: echo "CMAKE_PREFIX_PATH=/opt/ros/${ROS}" >> $GITHUB_ENV | |
| - name: Configure and build [MacOS/Ubuntu] | |
| shell: bash -el {0} | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| run: | | |
| cmake -B build \ | |
| -DCMAKE_BUILD_TYPE=Release \ | |
| -GNinja \ | |
| -DPYTHON_EXECUTABLE=$(which python3) | |
| cmake --build build | |
| ./build/main | |
| - name: Configure and build [Windows] | |
| shell: cmd /C CALL {0} | |
| if: contains(matrix.os, 'windows') | |
| run: | | |
| cmake -B build -DCMAKE_BUILD_TYPE=Release -GNinja | |
| cmake --build build | |
| build\main | |
| docker: | |
| runs-on: "ubuntu-latest" | |
| container: "ghcr.io/stack-of-tasks/pinocchio:devel" # todo: latest ? | |
| steps: | |
| - uses: actions/checkout@v5 | |
| - run: cmake -B build -DCMAKE_BUILD_TYPE=Release | |
| - run: cmake --build build | |
| - run: ./build/main | |
| # TODO: way too long | |
| #test-arch: | |
| #runs-on: "ubuntu-latest" | |
| #container: ${{ matrix.container }} | |
| #strategy: | |
| #fail-fast: false | |
| #matrix: | |
| #container: ["archlinux/archlinux:base-devel"] | |
| #env: | |
| #MAKEFLAGS: -j4 | |
| #steps: | |
| #- uses: actions/checkout@v3 | |
| ## install paru | |
| #- run: pacman -Syu --noconfirm git | |
| #- run: useradd -mG wheel user | |
| #- run: echo "%wheel ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers | |
| #- run: git clone https://aur.archlinux.org/paru-bin.git | |
| #- run: chown -R user paru-bin | |
| #- run: su user -c "makepkg -D paru-bin -si --noconfirm" | |
| ## use paru to install pinocchio and its dependencies from AUR | |
| #- run: su user -c "paru -Syu --noconfirm pinocchio" | |
| #- run: cmake -B build -S . | |
| #- run: cmake --build build | |
| #- run: ./build/main |