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continuous-integration.yml
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name: opensim-application
on:
schedule:
- cron: '0 2 * * *'
pull_request:
branches:
- '*'
push:
branches:
- main
tags:
- '*'
jobs:
windows:
name: Windows
runs-on: windows-2019
steps:
- name: Checkout opensim-gui
uses: actions/checkout@v3
- name: Install SWIG
run: |
choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
swig -swiglib
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install NumPy
run: python3 -m pip install numpy==1.25
- name: Set up JDK 1.8
uses: actions/setup-java@v3
with:
distribution: 'temurin'
java-version: 8
- name: Install Netbeans 12.3
# Make sure the NetBeans installer is not corrupted.
run: |
(New-Object System.Net.WebClient).DownloadFile("https://archive.apache.org/dist/netbeans/netbeans/12.3/Apache-NetBeans-12.3-bin-windows-x64.exe", "Apache-NetBeans-12.3-bin-windows-x64.exe")
$expectedHash = "0695d87d9c72dcf3738672ba83eb273dda02066fa5eee80896cb6ccf79175840367a13d22ab3cb9838dffaa9a219dd1f73aee0e27c085e5310da2e3bbbc92b2c"
$hashFromFile = Get-FileHash -Algorithm SHA512 -Path .\Apache-NetBeans-12.3-bin-windows-x64.exe
if (($hashFromFile.Hash) -ne ($expectedHash)) { Write-Error "Hash doesn't match." }
.\Apache-NetBeans-12.3-bin-windows-x64.exe --silent | Out-Null # This installer is gregarious.
echo "ANT_HOME=C:\\Program Files\\NetBeans-12.0\\netbeans\\extide\\ant" >> $GITHUB_ENV
- name: Checkout opensim-core main
uses: actions/checkout@v3
with:
repository: opensim-org/opensim-core
path: 'opensim-core'
- name: Cache opensim-core-dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# Every time a cache is created, it's stored with this key.
# In subsequent runs, if the key matches the key of an existing cache,
# then the cache is used. We chose for this key to depend on the
# operating system and a hash of the hashes of all files in the
# dependencies directory (non-recursive).
# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
key: ${{ runner.os }}-dependencies-${{ hashFiles('opensim-core/dependencies/*') }}
- name: Build opensim-core-dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
echo $env:GITHUB_WORKSPACE\\build_deps
mkdir $env:GITHUB_WORKSPACE\\build_deps
chdir $env:GITHUB_WORKSPACE\\build_deps
# gci -r $env:GITHUB_WORKSPACE\\opensim-core
# /W0 disables warnings. The other flags are copied from CMake's
# default CMAKE_CXX_FLAGS.
# https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
$env:CXXFLAGS = "/W0"
cmake $env:GITHUB_WORKSPACE/opensim-core/dependencies -G"Visual Studio 16 2019" -A x64 -DSUPERBUILD_ezc3d:BOOL=on -DOPENSIM_WITH_CASADI:BOOL=on -DWIG_DIR=C:/ProgramData/chocolatey/lib/swig -DOPENSIM_WITH_TROPTER:BOOL=on -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install
cmake . -LAH
cmake --build . --config Release -- /maxcpucount:2
- name: Obtain opensim-core commit
id: opensim-core-commit
run: |
cd opensim-core
$opensim_core_commit=(git rev-parse HEAD)
echo "hash=$opensim_core_commit" >> $GITHUB_OUTPUT
- name: Cache opensim-core
id: cache-core
uses: actions/cache@v3
with:
path: ~/opensim-core-install
# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
key: ${{ runner.os }}-${{ steps.opensim-core-commit.outputs.hash }}
- name: Build opensim-core
# if: steps.cache-core.outputs.cache-hit != 'true'
run: |
echo $env:GITHUB_WORKSPACE\\build_core
mkdir $env:GITHUB_WORKSPACE\\build_core
chdir $env:GITHUB_WORKSPACE\\build_core
$env:CXXFLAGS = "/W0"
cmake $env:GITHUB_WORKSPACE/opensim-core -G"Visual Studio 16 2019" -A x64 -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DBUILD_JAVA_WRAPPING=on -DBUILD_PYTHON_WRAPPING=on -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=off -DPython3_ROOT_DIR=C:/hostedtoolcache/windows/Python/3.10.11/x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install
cmake . -LAH
cmake --build . --config Release -- /maxcpucount:2
cmake --install .
- name: Update submodules
run: git submodule update --init --recursive -- opensim-models opensim-visualizer Gui/opensim/threejs
- name: Build GUI
id: build-gui
run: |
mkdir build
cd build
cmake ../ -G"Visual Studio 16 2019" -A x64 -DCMAKE_PREFIX_PATH=~/opensim-core-install -DANT_ARGS="-Dnbplatform.default.netbeans.dest.dir=C:/Program Files/NetBeans-12.3/netbeans;-Dnbplatform.default.harness.dir=C:/Program Files/NetBeans-12.3/netbeans/harness"
cmake --build . --target CopyOpenSimCore --config Release
cmake --build . --target CopyModels --config Release
cmake --build . --target PrepareInstaller --config Release
cmake --build . --target CopyJRE --config Release
cmake --build . --target CopyVisualizer --config Release
# Read the value of the cache variable storing the GUI build version.
$env:match = cmake -L . | Select-String -Pattern OPENSIMGUI_BUILD_VERSION
$VERSION = $env:match.split('=')[1]
echo $VERSION
echo "name=VERSION::$VERSION" >> $GITHUB_ENV
echo "version=$VERSION" >> $env:GITHUB_OUTPUT
- name: Build GUI installer
run: |
cd Gui/opensim/dist/installer
makensis.exe make_installer.nsi
mv OpenSim-${{ steps.build-gui.outputs.version }}-win64.exe $env:GITHUB_WORKSPACE
- name: Upload GUI installer
uses: actions/upload-artifact@v3
with:
name: OpenSim-${{ steps.build-gui.outputs.version }}-win64
path: OpenSim-${{ steps.build-gui.outputs.version }}-win64.exe
mac:
name: Mac13
runs-on: macos-13
steps:
- name: Checkout opensim-gui
uses: actions/checkout@v3
- name: Checkout opensim-core main
uses: actions/checkout@v3
with:
repository: opensim-org/opensim-core
path: 'opensim-core'
- uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install packages
run: |
brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm
brew reinstall gcc
pip3 install numpy==1.25
gfortran -v
mkdir gfortran_version
gfortran -v &> gfortran_version/gfortran_version.txt
- name: Set up JDK 1.8
uses: actions/setup-java@v3
with:
distribution: 'temurin'
java-version: 8
# - name: Setup tmate session to debug the workflow through SSH.
# uses: mxschmitt/action-tmate@v2
- name: Install NetBeans 12.3
# `brew cask install netbeans-java-se` requires sudo but brew won't allow sudo,
# so we install NetBeans ourselves.
# Note: Cask 'netbeans' gives version 11.2, while 'netbeans-java-se' gives 8.2.
run: |
# We remove JDKs newer than 8 to force the NetBeans installer to use JDK 8.
# If using JDK 14, the NetBeans installer fails because it cannot find unpack200,
# which was removed from the JDK. See:
# https://netbeans.apache.org/download/nb113/nb113.html
# "The installers will NOT run under JDK 14 because usage is made of the Pack200
# Tools and API, for packing and unpacking, which is removed in JDK 14, see JEP 367."
sudo rm -rf /Library/Java/JavaVirtualMachines/zulu-14.jdk
sudo rm -rf /Library/Java/JavaVirtualMachines/zulu-13.jdk
sudo rm -rf /Library/Java/JavaVirtualMachines/zulu-12.jdk
sudo rm -rf /Library/Java/JavaVirtualMachines/zulu-11.jdk
sudo rm -rf /Library/Java/JavaVirtualMachines/adoptopenjdk-14.jdk
sudo rm -rf /Library/Java/JavaVirtualMachines/adoptopenjdk-13.jdk
sudo rm -rf /Library/Java/JavaVirtualMachines/adoptopenjdk-12.jdk
sudo rm -rf /Library/Java/JavaVirtualMachines/adoptopenjdk-11.jdk
/usr/libexec/java_home -V
export JAVA_HOME=$(/usr/libexec/java_home -v 1.8)
echo "JAVA_HOME=$JAVA_HOME" >> $GITHUB_ENV
echo $JAVA_HOME
wget https://archive.apache.org/dist/netbeans/netbeans/12.3/Apache-NetBeans-12.3-bin-macosx.dmg
hdiutil attach Apache-NetBeans-12.3-bin-macosx.dmg
sudo installer -pkg /Volumes/Apache\ NetBeans\ 12.3/Apache\ NetBeans\ 12.3.pkg -target /
sudo -k
- name: Cache opensim-core-dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# Every time a cache is created, it's stored with this key.
# In subsequent runs, if the key matches the key of an existing cache,
# then the cache is used. We chose for this key to depend on the
# operating system and a hash of the hashes of all files in the
# dependencies directory (non-recursive).
# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
key: ${{ runner.os }}-dependencies-${{ hashFiles('opensim-core/dependencies/*') }}
- name: Build opensim-core-dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
mkdir build_deps
cd build_deps
cmake ../opensim-core/dependencies -DSUPERBUILD_ezc3d:BOOL=on -DOPENSIM_WITH_CASADI:BOOL=on -DOPENSIM_WITH_TROPTER:BOOL=on -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DCMAKE_BUILD_TYPE=Release
cmake . -LAH
cmake --build . --config Release
- name: Obtain opensim-core commit
id: opensim-core-commit
run: |
cd opensim-core
opensim_core_commit=$(git rev-parse HEAD)
echo "hash=$opensim_core_commit" >> $GITHUB_OUTPUT
- name: Cache opensim-core
id: cache-core
uses: actions/cache@v3
with:
path: ~/opensim-core-install
key: ${{ runner.os }}-${{ steps.opensim-core-commit.outputs.hash }}
- name: Install SWIG
if: steps.cache-swig.outputs.cache-hit != 'true'
run: |
mkdir ~/swig-source && cd ~/swig-source
wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
tar xzf v4.1.1.tar.gz && cd swig-4.1.1
sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
make && make -j4 install
- name: Build opensim-core
if: steps.cache-core.outputs.cache-hit != 'true'
run: |
mkdir build_core
cd build_core
cmake ../opensim-core -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DSWIG_EXECUTABLE=~/swig/bin/swig -DBUILD_JAVA_WRAPPING=on -DBUILD_PYTHON_WRAPPING=on -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=off -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_INSTALL_UNIX_FHS=OFF -DOPENSIM_DISABLE_LOG_FILE=ON
cmake . -LAH
cmake --build . --config Release
cmake --install .
- name: Update submodules
run: git submodule update --init --recursive -- opensim-models opensim-visualizer Gui/opensim/threejs
- name: Build GUI
id: build-gui
run: |
mkdir build
cd build
# TODO: Do not hard-code NetBeans version.
# TODO: Could download from https://download.netbeans.org/netbeans/8.2/final/bundles/netbeans-8.2-javase-macosx.dmg
# cmake ../ -DCMAKE_PREFIX_PATH=~/opensim-core -DANT_ARGS="-Dnbplatform.default.netbeans.dest.dir=/Applications/NetBeans/Apache NetBeans 12.3.app/Contents/Resources/NetBeans/netbeans;-Dnbplatform.default.harness.dir=/Applications/NetBeans/Apache NetBeans 12.3.app/Contents/Resources/NetBeans/netbeans/harness"
cmake ../ -DCMAKE_PREFIX_PATH=~/opensim-core-install -DANT_ARGS="-Dnbplatform.default.netbeans.dest.dir=/Applications/NetBeans/Apache NetBeans 12.3.app/Contents/Resources/NetBeans/netbeans;-Dnbplatform.default.harness.dir=/Applications/NetBeans/Apache NetBeans 12.3.app/Contents/Resources/NetBeans/netbeans/harness"
make CopyOpenSimCore
make PrepareInstaller
# Read the value of the cache variable storing the GUI build version.
VERSION=`cmake -L . | grep OPENSIMGUI_BUILD_VERSION | cut -d "=" -f2`
echo $VERSION
echo "name=VERSION::$VERSION" >> $GITHUB_ENV
echo "version=$VERSION" >> $GITHUB_OUTPUT
cd $GITHUB_WORKSPACE
ls Gui/opensim/dist
mv Gui/opensim/dist/OpenSim-$VERSION.pkg $GITHUB_WORKSPACE
- name: Upload GUI installer
uses: actions/upload-artifact@v3
with:
name: OpenSim-${{ steps.build-gui.outputs.version }}-mac
path: OpenSim-${{ steps.build-gui.outputs.version }}.pkg
ubuntu:
name: Ubuntu2004
runs-on: ubuntu-20.04
steps:
- name: Checkout opensim-gui
uses: actions/checkout@v3
- name: Checkout opensim-core main
uses: actions/checkout@v3
with:
repository: opensim-org/opensim-core
path: 'opensim-core'
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install NumPy
run: python3 -m pip install numpy==1.25
- name: Install packages
run: sudo apt-get update && sudo apt-get install --yes liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen gfortran-7
- name: Install SWIG
if: steps.cache-swig.outputs.cache-hit != 'true'
run: |
mkdir ~/swig-source && cd ~/swig-source
wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
tar xzf v4.1.1.tar.gz && cd swig-4.1.1
sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
make && make -j4 install
- name: Set up JDK 1.8
uses: actions/setup-java@v3
with:
distribution: 'temurin'
java-version: 8
- name: Cache Netbeans
id: cache-netbeans
uses: actions/cache@v3
with:
path: ~/netbeans-12.3
key: netbeans-12.3
- name: Download and Install Netbeans
if: steps.cache-netbeans.outputs.cache-hit != 'true'
run: |
wget -q https://archive.apache.org/dist/netbeans/netbeans/12.3/Apache-NetBeans-12.3-bin-linux-x64.sh
chmod 755 Apache-NetBeans-12.3-bin-linux-x64.sh
./Apache-NetBeans-12.3-bin-linux-x64.sh --silent
ls $HOME/netbeans-12.3
- name: Cache opensim-core-dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# Every time a cache is created, it's stored with this key.
# In subsequent runs, if the key matches the key of an existing cache,
# then the cache is used. We chose for this key to depend on the
# operating system and a hash of the hashes of all files in the
# dependencies directory (non-recursive).
# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
key: ${{ runner.os }}-dependencies-${{ hashFiles('opensim-core/dependencies/*') }}
- name: Build opensim-core-dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
mkdir build_deps
cd build_deps
cmake ../opensim-core/dependencies -DSUPERBUILD_ezc3d:BOOL=on -DOPENSIM_WITH_CASADI:BOOL=on -DOPENSIM_WITH_TROPTER:BOOL=on -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install
cmake . -LAH
cmake --build . --config Release
- name: Obtain opensim-core commit
id: opensim-core-commit
run: |
cd opensim-core
opensim_core_commit=$(git rev-parse HEAD)
echo "hash=$opensim_core_commit" >> $GITHUB_OUTPUT
- name: Cache opensim-core
id: cache-core
uses: actions/cache@v3
with:
path: ~/opensim-core-install
key: ${{ runner.os }}-${{ steps.opensim-core-commit.outputs.hash }}
- name: Build opensim-core
if: steps.cache-core.outputs.cache-hit != 'true'
run: |
mkdir build_core
cd build_core
cmake ../opensim-core -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DBUILD_JAVA_WRAPPING=on -DBUILD_PYTHON_WRAPPING=on -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_TESTING=off -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_INSTALL_UNIX_FHS=OFF -DSWIG_DIR=~/swig/share/swig -DSWIG_EXECUTABLE=~/swig/bin/swig
cmake . -LAH
cmake --build . --config Release
cmake --install .
- name: Remove opensim-core and swig
run: |
rm -rf ~/swig-source
rm -rf ~/work/opensim-gui/opensim-gui/build_core
- name: Update submodules
run: git submodule update --init --recursive -- opensim-models opensim-visualizer Gui/opensim/threejs
- name: Build GUI
id: build-gui
run: |
mkdir build
cd build
cmake ../ -DCMAKE_PREFIX_PATH=~/opensim-core-install -DANT_ARGS="-Dnbplatform.default.netbeans.dest.dir=$HOME/netbeans-12.3/netbeans;-Dnbplatform.default.harness.dir=$HOME/netbeans-12.3/netbeans/harness"
make CopyOpenSimCore
make PrepareInstaller
# Read the value of the cache variable storing the GUI build version.
VERSION=`cmake -L . | grep OPENSIMGUI_BUILD_VERSION | cut -d "=" -f2`
echo $VERSION
echo "name=VERSION::$VERSION" >> $GITHUB_ENV
echo "version=$VERSION" >> $GITHUB_OUTPUT
cd $GITHUB_WORKSPACE
ls Gui/opensim/dist
mv Gui/opensim/dist/OpenSim-$VERSION.tar.gz $GITHUB_WORKSPACE
- name: Upload GUI installer
uses: actions/upload-artifact@v3
with:
name: OpenSim-${{ steps.build-gui.outputs.version }}-ub20-linux
path: OpenSim-${{ steps.build-gui.outputs.version }}.tar.gz