Add CI support for macos-14 Apple Silicon (#1589)

robotology · Feb 1, 2024 · 3dac05c · 3dac05c
1 parent abc5976
commit 3dac05c
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Showing 6 changed files with 40 additions and 16 deletions.
diff --git a/.ci/initial-cache.gh.cmake b/.ci/initial-cache.gh.cmake
@@ -14,14 +14,17 @@ if(NOT WIN32 OR DEFINED ENV{CONDA_PREFIX})
 endif()
 
 # Profiles options
-set(ROBOTOLOGY_ENABLE_ROBOT_TESTING ON CACHE BOOL "")
+if(NOT (APPLE AND ($ENV{RUNNER_ARCH} STREQUAL "ARM64")))
+  set(ROBOTOLOGY_ENABLE_ROBOT_TESTING ON CACHE BOOL "")
+  set(ROBOTOLOGY_ENABLE_ICUB_HEAD ON CACHE BOOL "")
+endif()
+
 set(ROBOTOLOGY_ENABLE_DYNAMICS ON CACHE BOOL "")
 # ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS is only supported on Windows with conda
 if(NOT (WIN32 AND NOT DEFINED ENV{CONDA_PREFIX}))
   set(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS ON CACHE BOOL "")
 endif()
 set(ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS ON CACHE BOOL "")
-set(ROBOTOLOGY_ENABLE_ICUB_HEAD ON CACHE BOOL "")
 set(ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS ON CACHE BOOL "")
 set(ROBOTOLOGY_ENABLE_TELEOPERATION ON CACHE BOOL "")
 set(ROBOTOLOGY_ENABLE_GRASPING OFF CACHE BOOL "")

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -25,7 +25,7 @@ jobs:
       fail-fast: false
       matrix:
         build_type: [Release]
-        os: [ubuntu-latest, macos-latest, windows-2019, windows-2022]
+        os: [ubuntu-latest, macos-12, macos-14, windows-2019, windows-2022]
         project_tags:
           - Default
           - Unstable
@@ -38,11 +38,17 @@ jobs:
     steps:
     - uses: actions/checkout@v4
 
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: conda-incubator/setup-miniconda@v3
+      if: matrix.os != 'macos-14'
       with:
         miniforge-variant: Mambaforge
         miniforge-version: latest
 
+    - uses: conda-incubator/setup-miniconda@v3
+      if: matrix.os == 'macos-14'
+      with:
+        installer-url: https://github.com/conda-forge/miniforge/releases/download/23.11.0-0/Mambaforge-23.11.0-0-MacOSX-arm64.sh
+
     - name: Install files to enable compilation of mex files [Conda/Linux]
       if: contains(matrix.os, 'ubuntu') 
       run: |
@@ -52,15 +58,24 @@ jobs:
         echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
         echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV
                 
-    - name: Install files to enable compilation of mex files [Conda/macOS]
-      if: contains(matrix.os, 'macos') 
+    - name: Install files to enable compilation of mex files [Conda/macOS Intel]
+      if: matrix.os == 'macos-12'
       run: |
         curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip
         unzip msdk_R2020a_mexmaci64.zip
         rm msdk_R2020a_mexmaci64.zip
         echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV
         echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV
-        
+
+    - name: Install files to enable compilation of mex files [Conda/macOS Apple Silicon]
+      if: matrix.os == 'macos-14'
+      run: |
+        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2023b_mexmaca64.zip
+        unzip msdk_R2023b_mexmaca64.zip
+        rm msdk_R2023b_mexmaca64.zip
+        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2023b_mexmaca64" >> $GITHUB_ENV
+        echo "GHA_Matlab_MEX_EXTENSION=mexmaca64" >> $GITHUB_ENV
+
     - name: Install files to enable compilation of mex files [Conda/Windows]
       if: contains(matrix.os, 'windows') 
       shell: bash
@@ -71,11 +86,18 @@ jobs:
         echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV
         echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV
 
+    - name: Install ace (on all platforms excluding macOS M1) [Conda]
+      if: matrix.os != 'macos-14'
+      shell: bash -l {0}
+      run: |
+        # Dependencies
+        mamba install ace
+
     - name: Dependencies [Conda]
       shell: bash -l {0}
       run: |
         # Dependencies
-        mamba install ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz==8.* gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
+        mamba install asio assimp boost eigen freetype gazebo glew glfw glm graphviz==8.* gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
         # Python 
         mamba install python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad
 

diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
@@ -12,7 +12,7 @@ set_tag(qhull_TAG 2020.2)
 set_tag(CppAD_TAG 20240000.2)
 set_tag(proxsuite_TAG v0.6.3)
 set_tag(casadi_TAG 3.6.3)
-set_tag(casadi-matlab-bindings_TAG v3.6.3.0)
+set_tag(casadi-matlab-bindings_TAG v3.6.3.1)
 
 # Robotology projects
 set_tag(YCM_TAG master)

diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
@@ -12,15 +12,13 @@ set_tag(qhull_TAG 2020.2)
 set_tag(CppAD_TAG 20240000.2)
 set_tag(proxsuite_TAG v0.6.3)
 set_tag(casadi_TAG 3.6.3)
-set_tag(casadi-matlab-bindings_TAG v3.6.3.0)
+set_tag(casadi-matlab-bindings_TAG v3.6.3.1)
 
 # Robotology projects
 set_tag(YARP_TAG yarp-3.9)
 set_tag(ICUB_TAG devel)
 set_tag(RobotTestingFramework_TAG devel)
 set_tag(blockTest_TAG devel)
-set_tag(WBToolbox_TAG devel)
-set_tag(BlockFactory_TAG devel)
 set_tag(icub-tests_TAG devel)
 set_tag(iDynTree_TAG master)
 set_tag(icub-firmware_TAG devel)

diff --git a/doc/cmake-options.md b/doc/cmake-options.md
@@ -79,10 +79,10 @@ Not all options are supported on all platforms. The following table provides a r
 | Option                                                              | Ubuntu/Debian, dependencies: apt | Windows, dependencies: vcpkg | conda on Linux, dependencies: conda-forge |  conda on macOS, dependencies: conda-forge | conda on Windows, dependencies: conda-forge |
 |:-------------------------------------------------------------------:|:--------------------------------:|:----------------------------:|:-----------------------------------------:|:------------------------------------------:|:-------------------------------------------:|
 | `ROBOTOLOGY_ENABLE_CORE`                                            | ✔️                               |             ✔️              |                 ✔️                        |              ✔️                           |                 ✔️                          |
-| `ROBOTOLOGY_ENABLE_ROBOT_TESTING`       | ✔️                               |             ✔️              |              ✔️                           |                 ✔️                        |               ✔️                            |
+| `ROBOTOLOGY_ENABLE_ROBOT_TESTING`<sup id="a2">[2!](#f2)</sup>       | ✔️                               |             ✔️              |              ✔️                           |                 ✔️                        |               ✔️                            |
 | `ROBOTOLOGY_ENABLE_DYNAMICS`                                        | ✔️                               |             ✔️              |                 ✔️                        |              ✔️                           |               ✔️                            |
 | `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` | ✔️                               |             ❌              |                 ✔️                        |              ✔️                           |               ✔️                            |
-| `ROBOTOLOGY_ENABLE_ICUB_HEAD`                                       | ✔️                               |             ✔️              |                 ✔️                        |              ✔️                           |               ✔️                            |
+| `ROBOTOLOGY_ENABLE_ICUB_HEAD`<sup id="a2">[2!](#f2)</sup>                                       | ✔️                               |             ✔️              |                 ✔️                        |              ✔️                           |               ✔️                            |
 | `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS`                                | ✔️                               |             ✔️              |                 ✔️                        |              ✔️                           |               ✔️                            |
 | `ROBOTOLOGY_ENABLE_TELEOPERATION`       | ✔️                               |             ❌              |                 ✔️                        |              ❌                           |               ✔️                            |
 | `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS`                                  | ✔️                               |             ✔️              |                 ✔️                        |              ✔️                           |               ✔️                            |
@@ -100,7 +100,8 @@ Not all options are supported on all platforms. The following table provides a r
 | `ROBOTOLOGY_USES_ESDCAN`                                            |  ❌                              |             ✔️              |                 ❌                        |              ❌                           |                 ✔️                          |
            
 
-<b id="f1">1!</b>:`ROBOTOLOGY_USES_MUJOCO` does not support building with apt dependencies on Debian or Ubuntu distributions older than 2022. Furthermore, it does not support build on Wndows with Visual Studio 2019, it requires Visual Studio 2022.
+<b id="f1">1!</b>:`ROBOTOLOGY_USES_MUJOCO` does not support building with apt dependencies on Debian or Ubuntu distributions older than 2022. Furthermore, it does not support build on Windows with Visual Studio 2019, it requires Visual Studio 2022.
+<b id="f2">2!</b>:`ROBOTOLOGY_ENABLE_ROBOT_TESTING` and `ROBOTOLOGY_ENABLE_ICUB_HEAD` do not support building with conda-forge dependencies on Apple Silicon.
 
 
 

diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
@@ -206,7 +206,7 @@ repositories:
   casadi-matlab-bindings:
     type: git
     url: https://github.com/ami-iit/casadi-matlab-bindings.git
-    version: v3.6.3.0
+    version: v3.6.3.1
   idyntree-yarp-tools:
     type: git
     url: https://github.com/robotology/idyntree-yarp-tools.git