ci.yml

name: Continuous Integration

on:
  push:
    branches:
    - 'master'
    - 'feat/**'
    - 'fix/**'
  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 * * *'
  workflow_dispatch:
    
jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Release]
        os: [windows-latest, ubuntu-latest]

    steps:
    - uses: actions/checkout@master
        
    - 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=D:/vcpkg-robotology" >> ${GITHUB_ENV}
        echo "VCPKG_ROBOTOLOGY_BIN_PORTS_ROOT=D:/vcpkg-robotology-binary-ports" >> ${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

    # ============
    # DEPENDENCIES
    # ============
    - name: Dependencies [Windows]
      if: matrix.os == 'windows-latest'
      shell: bash
      run: |
        # To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need
        choco install -y wget unzip
        # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/vcpkg-robotology
        # that has been used to create the pre-compiled archive
        cd D:/
        wget https://github.com/robotology-playground/robotology-superbuild-dependencies/releases/download/v0.0.2/vcpkg-robotology.zip
        unzip vcpkg-robotology.zip

    - name: Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        sudo apt update
        sudo apt install git build-essential pkg-config zip unzip cmake

    - 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 
        
    - name: Source-based Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-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 

    # ===================
    # CMAKE-BASED PROJECT
    # ===================
    - name: Configure [Windows]
      if: matrix.os == 'windows-latest'
      shell: bash
      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 }} ..

    - name: Configure [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      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 }} ..
      
    - name: Build
      shell: bash
      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
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }} --target install