ci.yml

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 }} .