ubuntu.yml

name: Ubuntu CI (Easy install dependencies)

on:
  # Trigger the workflow on push on the master branch, or for any pull request
  push:
    branches:
      - master
  pull_request:

jobs:
  build-test-and-deploy-doc-ubuntu:
    name: >-
      (${{ matrix.OS }}) (${{ matrix.BUILD_TYPE }}) (${{ matrix.COMPILER }}, ${{ matrix.GENERATOR }})
      Easy install the dependencies. Build the project and run the unit tests. Generate and deploy the documentation.

    strategy:
      matrix:
        OS: ['ubuntu-20.04', 'ubuntu-22.04']
        GENERATOR: ['Unix Makefiles']
        COMPILER: ['gcc']
        BUILD_TYPE: ['Release']
        include:
          - OS: 'ubuntu-20.04'
            GENERATOR: 'Unix Makefiles'
            COMPILER: 'gcc'
            BUILD_TYPE: 'Debug'
          - OS: 'ubuntu-20.04'  # For some reason, importing 'jiminy_py' causes segfault on ubuntu-22.04
            GENERATOR: 'Ninja'
            COMPILER: 'clang'
            LINKER_FLAGS: '-fuse-ld=gold'
            BUILD_TYPE: 'Release'

    runs-on: ${{ matrix.OS }}

    defaults:
      run:
        # Using bash with automatic sourcing `.bashrc` and fail-fast behavior enabled
        shell: bash -ieo pipefail {0}

    #####################################################################################

    steps:
    - name: Checkout branch
      uses: actions/checkout@v4
    - name: Free Disk Space
      uses: jlumbroso/free-disk-space@v1.3.1
      with:
        tool-cache: false
        android: true
        dotnet: true
        haskell: true
        large-packages: false
        swap-storage: false

    #####################################################################################

    - name: Define environment variables
      run: |
        echo "CMAKE_C_COMPILER=/usr/bin/${{ matrix.COMPILER }}" >> $GITHUB_ENV
        if [[ "${{ matrix.COMPILER }}" == 'gcc' ]] ; then
          echo "CMAKE_CXX_COMPILER=/usr/bin/g++" >> $GITHUB_ENV
        else
          echo "CMAKE_CXX_COMPILER=/usr/bin/${{ matrix.COMPILER }}++" >> $GITHUB_ENV
        fi

        echo "PYTHON_EXECUTABLE=/usr/bin/python3" >> $GITHUB_ENV

        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV

        echo "/home/runner/.local/bin" >> $GITHUB_PATH
    - name: Install pre-compiled project dependencies
      run: |
        sudo env "PATH=$PATH" "${RootDir}/build_tools/easy_install_deps_ubuntu.sh"
        if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then
          sudo apt install ninja-build
        fi
        "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"

    #####################################################################################

    - name: PEP8 Code Style Check
      if: matrix.OS == 'ubuntu-20.04' && matrix.BUILD_TYPE != 'Debug' && matrix.COMPILER == 'gcc'
      run: |
        "${PYTHON_EXECUTABLE}" -m pip install flake8
        flake8 --ignore=E121,E126,E123,E226,E241,E266,E402,E741,F405,W504 \
               --count --show-source --statistics --exclude unit_py,examples "${RootDir}/python/"

    #####################################################################################

    - name: Build and install Jiminy
      run: |
        mkdir "${RootDir}/build" "${InstallDir}"
        cd "${RootDir}/build"

        cmake "${RootDir}" -Wdev -G "${{ matrix.GENERATOR }}" \
              -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
              -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
              -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
              -DCMAKE_PREFIX_PATH="/opt/openrobots/" -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${{ (matrix.BUILD_TYPE == 'Debug' && 'OFF') || 'ON' }} \
              -DBoost_NO_SYSTEM_PATHS=OFF -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
              -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
        if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then
          ninja install -j2
        else
          make install -j2
        fi

    #####################################################################################

    - name: Build extension module
      run: |
        "${InstallDir}/bin/jiminy_double_pendulum"

        # Make sure that jiminy_py Python module can be imported
        # export LD_LIBRARY_PATH="$InstallDir/lib"
        "${PYTHON_EXECUTABLE}" -c "import jiminy_py; print(jiminy_py.get_libraries())"

        RootDir="${RootDir}/core/examples/external_project/"
        mkdir -p "${RootDir}/build"
        cd "${RootDir}/build"
        cmake "${RootDir}" -G "${{ matrix.GENERATOR }}" \
              -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
              -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
              -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
              -DCMAKE_PREFIX_PATH="/opt/openrobots/" -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${{ (matrix.BUILD_TYPE == 'Debug' && 'OFF') || 'ON' }} \
              -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
        if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then
          ninja install
        else
          make install
        fi

        "${InstallDir}/bin/pip_double_pendulum"

    - name: Run unit tests for jiminy
      run: |
        ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"

        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v

    - name: Run unit tests for gym jiminy base module
      run: |
        if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
          export JIMINY_BUILD_DEBUG=
        fi
        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v

    - name: Run examples for gym jiminy add-on modules
      if: matrix.BUILD_TYPE != 'Debug'
      run: |
        cd "${RootDir}/python/gym_jiminy/examples/rllib"
        "${PYTHON_EXECUTABLE}" acrobot_ppo.py

    #####################################################################################

    - name: Python linter
      if: matrix.OS == 'ubuntu-20.04' && matrix.BUILD_TYPE != 'Debug' && matrix.COMPILER == 'gcc'
      run: |
        cd "${RootDir}/python/jiminy_py/"
        pylint --rcfile="${RootDir}/.pylintrc" "src/"
        for name in "common" "toolbox" "rllib"; do
          cd "${RootDir}/python/gym_jiminy/$name"
          pylint --rcfile="${RootDir}/.pylintrc" "gym_jiminy/"
        done

    #####################################################################################

    - name: Generate and install Doxygen documentation
      run: |
        cd build
        cmake .  # Reconfigure cmake since sphinx has been installed in the meantime
        cmake . -DCOMPONENT=docs -P ./cmake_install.cmake
    - name: Deploy to GitHub Pages
      if:  >-
        matrix.OS == 'ubuntu-22.04' && success() &&
        github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
      uses: crazy-max/ghaction-github-pages@v4
      with:
        target_branch: gh-pages
        build_dir: docs/html
      env:
        GITHUB_TOKEN: ${{ secrets.GH_DEPLOY }}