Continuous Integration with tests on Ubuntu using apt dependencies #984
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| name: Continuous Integration with tests on Ubuntu using apt dependencies | |
| 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 * * *' | |
| env: | |
| YCM_TAG: v0.14.0 | |
| YARP_TAG: v3.6.0 | |
| OPENXR_TAG: main | |
| MONADO_TAG: main | |
| jobs: | |
| build: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release, Debug] | |
| os: [ubuntu-22.04] | |
| steps: | |
| - uses: actions/checkout@master | |
| - 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 | |
| run: | | |
| for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: System dependencies | |
| run: | | |
| sudo apt update | |
| # Common dependencies | |
| sudo apt install build-essential git cmake | |
| # OpenXR dependencies | |
| sudo apt install libgl1-mesa-dev libvulkan-dev libx11-xcb-dev libxcb-dri2-0-dev libxcb-glx0-dev libxcb-icccm4-dev libxcb-keysyms1-dev libxcb-randr0-dev libxrandr-dev libxxf86vm-dev mesa-common-dev | |
| # Yarp dependencies | |
| sudo apt install libace-dev | |
| # yarp-device-openxrheadset dependencies | |
| sudo apt install libeigen3-dev libglm-dev libglfw3-dev libglew-dev | |
| # Monado additional dependencies (just for testing) | |
| sudo apt install wget unzip ninja-build curl patch python3 pkg-config libx11-dev glslang-tools libglvnd-dev ca-certificates libusb-1.0-0-dev libudev-dev libhidapi-dev libwayland-dev libuvc-dev libavcodec-dev libopencv-dev libv4l-dev libcjson-dev libsdl2-dev libegl1-mesa-dev | |
| #Xvfb, just to have a dummy screen | |
| sudo apt install xvfb vulkan-tools mesa-vulkan-drivers | |
| - name: Vulkan extensions | |
| shell: bash -l {0} | |
| run: | | |
| LIBGL_ALWAYS_SOFTWARE=1 __GLX_VENDOR_LIBRARY_NAME=mesa VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/lvp_icd.i686.json:/usr/share/vulkan/icd.d/lvp_icd.x86_64.json vulkaninfo | |
| - name: Source-based OpenXR installation | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/KhronosGroup/OpenXR-SDK.git --depth 1 --branch ${OPENXR_TAG} | |
| cd OpenXR-SDK && mkdir -p build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release .. | |
| make install | |
| - name: Source-based monado installation | |
| shell: bash -l {0} | |
| run: | | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://gitlab.freedesktop.org/monado/monado.git --depth 1 --branch ${MONADO_TAG} | |
| cd monado && mkdir -p build && cd build | |
| cmake -G Ninja -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release -DXRT_FEATURE_SERVICE:BOOL=OFF -DXRT_OPENXR_INSTALL_ACTIVE_RUNTIME=OFF .. | |
| ninja install | |
| - name: Source-based YARP installation | |
| shell: bash -l {0} | |
| run: | | |
| # YCM | |
| cd ${GITHUB_WORKSPACE} | |
| git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
| cd ycm && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release .. | |
| make install | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp.git --depth 1 --branch ${YARP_TAG} | |
| cd yarp && mkdir -p build && cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release .. | |
| make install | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON .. | |
| - name: Build | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| make | |
| - name: Install | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| make install | |
| - name: Test | |
| shell: bash -l {0} | |
| #if : false #Disabling until https://gitlab.freedesktop.org/monado/monado/-/issues/170 is fixed | |
| run: | | |
| export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin | |
| yarpserver --write & | |
| cd build | |
| #lavapipe (software Vulkan) settings | |
| export LIBGL_ALWAYS_SOFTWARE=1 | |
| export __GLX_VENDOR_LIBRARY_NAME=mesa | |
| export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/lvp_icd.i686.json:/usr/share/vulkan/icd.d/lvp_icd.x86_64.json | |
| #Monado settings | |
| export XRT_COMPOSITOR_FORCE_XCB=1 | |
| export XR_RUNTIME_JSON=${GITHUB_WORKSPACE}/install/share/openxr/1/openxr_monado.json | |
| #Run ctest on a virtual X server environment (xvfb-run) | |
| xvfb-run ctest --output-on-failure -C ${{ matrix.build_type }} . | |