Use conda in CI

It fixes #66
robotology · Feb 26, 2024 · 96da5cc · 96da5cc
1 parent 46d8d1c
commit 96da5cc
Showing 1 changed file with 31 additions and 138 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -1,9 +1,10 @@
-name: Continuous Integration
+name: Continuous Integration with conda dependencies
 
 on:
   push:
     branches:
     - 'master'
+    - 'devel'
     - 'feat/**'
     - 'fix/**'
   pull_request:
@@ -20,163 +21,55 @@ jobs:
     strategy:
       matrix:
         build_type: [Release]
-        os: [windows-latest, ubuntu-latest]
+        os: [ubuntu-latest, windows-2019, macos-latest]
 
     steps:
     - uses: actions/checkout@main
-
-    - name: Set up environment variables [Windows]
-      if: matrix.os == 'windows-latest'
-      shell: bash
-      run: |
-        # the following fix the problem described in https://github.community/t5/GitHub-Actions/Windows-tests-worked-yesterday-broken-today/m-p/43839#M5530
-        echo "C:\Program Files\Git\bin" >> ${GITHUB_PATH}
-        echo "VCPKG_ROBOTOLOGY_ROOT=C:/robotology/vcpkg" >> ${GITHUB_ENV}
-        
-    - name: Display environment variables
-      shell: bash
-      run: env
 
-    # 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
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+        channels: conda-forge,robotology
+        channel-priority: true
 
-    # ============
-    # DEPENDENCIES
-    # ============
-    - name: Dependencies [Windows]
-      if: matrix.os == 'windows-latest'
-      shell: bash
-      run: |
-        choco install -y curl wget unzip
-        latest_tag=$(curl --silent https://api.github.com/repos/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest | grep '"tag_name"' | sed -E 's/.*"([^"]+)".*/\1/')
-        echo "Installing robotology-superbuild-dependencies-vcpkg@${latest_tag}"
-        cd C:/
-        wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${latest_tag}/vcpkg-robotology.zip
-        unzip vcpkg-robotology.zip -d C:/
-        rm vcpkg-robotology.zip
 
-    - name: Dependencies [Ubuntu]
-      if: matrix.os == 'ubuntu-latest'
+    - name: Dependencies
+      shell: bash -l {0}
       run: |
-        sudo apt update
-        sudo apt install git build-essential pkg-config zip unzip zlib1g-dev cmake libace-dev coinor-libipopt-dev libeigen3-dev \
-                         qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libtinyxml-dev libgsl-dev wget curl autoconf \
-                         autogen automake libtool mlocate libopencv-dev
+        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
+        conda config --remove channels defaults
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install ycm-cmake-modules yarp opencv idyntree robot-testing-framework icub-main
 
-    - name: Source-based Dependencies [Windows] 
-      if: matrix.os == 'windows-latest'
-      shell: bash
-      run: |
-        # ycm
-        cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/ycm.git --depth 1 --branch master
-        cd ycm && mkdir -p build && cd build
-        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-                     -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
-        cmake --build . --config ${{ matrix.build_type }} --target INSTALL 
-        # robot-testing-framework
-        cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/robot-testing-framework.git --depth 1 --branch devel
-        cd robot-testing-framework && mkdir -p build && cd build
-        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-                     -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-                     -DENABLE_LUA_PLUGIN:BOOL=OFF -DENABLE_WEB_LISTENER:BOOL=ON ..
-        cmake --build . --config ${{ matrix.build_type }} --target INSTALL 
-        # yarp
-        cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/yarp.git --depth 1 --branch master
-        cd yarp && mkdir -p build && cd build
-        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-                     -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-                     -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCREATE_LIB_MATH:BOOL=ON -DCREATE_SHARED_LIBRARY:BOOL=ON \
-                     -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DYARP_COMPILE_RobotTestingFramework_ADDONS:BOOL=ON ..
-        cmake --build . --config ${{ matrix.build_type }} --target INSTALL
-        # icub-main
-        cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/icub-main.git --depth 1 --branch devel
-        cd icub-main && mkdir -p build && cd build
-        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-                     -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-                     -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DENABLE_icubmod_cartesiancontrollerserver=ON -DENABLE_icubmod_cartesiancontrollerclient=ON \
-                     -DENABLE_icubmod_gazecontrollerclient=ON ..
-        cmake --build . --config ${{ matrix.build_type }} --target INSTALL 
-        
-    - name: Source-based Dependencies [Ubuntu]
-      if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
-      shell: bash
-      run: |
-        # ycm
-        cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/ycm.git --depth 1 --branch master
-        cd ycm && mkdir -p build && cd build
-        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
-        cmake --build . --config ${{ matrix.build_type }} --target install 
-        # robot-testing-framework
-        cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/robot-testing-framework.git --depth 1 --branch devel
-        cd robot-testing-framework && mkdir -p build && cd build
-        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-        -DENABLE_LUA_PLUGIN:BOOL=OFF ENABLE_WEB_LISTENER:BOOL=ON ..
-        cmake --build . --config ${{ matrix.build_type }} --target install 
-        # yarp
-        cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/yarp.git --depth 1 --branch master
-        cd yarp && mkdir -p build && cd build
-        # Workaround for https://github.com/robotology/robotology-superbuild/issues/1091
-        cmake -DYARP_DISABLE_MACOS_BUNDLES:BOOL=ON -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
-        -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DYARP_COMPILE_RobotTestingFramework_ADDONS:BOOL=ON ..
-        cmake --build . --config ${{ matrix.build_type }} --target install 
-        # icub-main
-        cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/robotology/icub-main.git --depth 1 --branch devel
-        cd icub-main && mkdir -p build && cd build
-        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-               -DENABLE_icubmod_cartesiancontrollerserver=ON -DENABLE_icubmod_cartesiancontrollerclient=ON -DENABLE_icubmod_gazecontrollerclient=ON ..
-        cmake --build . --config ${{ matrix.build_type }} --target install 
-      env:
-        # This is necessary only on macOS/homebrew, but on Linux it should be ignored
-        Qt5_DIR: /usr/local/opt/qt5/lib/cmake/Qt5
-    # ===================
-    # CMAKE-BASED PROJECT
-    # ===================
-    - name: Configure [Windows]
-      if: matrix.os == 'windows-latest'
-      shell: bash
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
       run: |
         mkdir -p build
         cd build
-        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_ROBOTOLOGY_ROOT}/scripts/buildsystems/vcpkg.cmake \
-                     -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-                     -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
 
-    - name: Configure [Ubuntu]
-      if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
-      shell: bash
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
       run: |
         mkdir -p build
-        cd build    
-        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
-      env:
-        # This is necessary only on macOS/homebrew, but on Linux it should be ignored
-        Qt5_DIR: /usr/local/opt/qt5/lib/cmake/Qt5
+        cd build
+        cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
       
     - name: Build
-      shell: bash
+      shell: bash -l {0}
       run: |
         cd build
-        # Fix for using YARP idl generators (that link ACE) in Windows 
-        # See https://github.com/robotology/idyntree/issues/569 for more details
-        export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_ROBOTOLOGY_ROOT}/installed/x64-windows/bin
         cmake --build . --config ${{ matrix.build_type }}
-        
+
     - name: Install
-      shell: bash
+      shell: bash -l {0}
       run: |
         cd build
         cmake --build . --config ${{ matrix.build_type }} --target install