CI of QpSolverCollection #215
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| name: CI of QpSolverCollection | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| clang-format: | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Checkout repository code | |
| uses: actions/checkout@v3 | |
| - name: Install clang-format-10 | |
| run: | | |
| sudo apt-get -qq update | |
| sudo apt-get -qq install clang-format-10 | |
| - name: Run clang-format-check | |
| run: | | |
| ./.clang-format-check.sh | |
| build-and-test: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| build-type: [Debug, RelWithDebInfo] | |
| standalone: [standalone, catkin] | |
| solvers-from-source: [SolversFromSource, SolversFromAPT] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Set environment variables | |
| run: | | |
| echo "LD_LIBRARY_PATH=/opt/blasfeo/lib:/opt/hpipm/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV # for HPIPM | |
| - name: Set ROS version | |
| if: matrix.standalone == 'catkin' | |
| run: | | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] | |
| then | |
| echo "ROS_DISTRO=noetic" >> $GITHUB_ENV | |
| echo "PYTHON_PACKAGE_PREFIX=python3" >> $GITHUB_ENV | |
| else # if [ "${{ matrix.os }}" == "ubuntu-18.04" ] | |
| echo "ROS_DISTRO=melodic" >> $GITHUB_ENV | |
| echo "PYTHON_PACKAGE_PREFIX=python" >> $GITHUB_ENV | |
| fi | |
| - name: Check secrets | |
| run: | | |
| if test -n "$GITLAB_TOKEN"; then | |
| echo "Install private solvers." | |
| echo "ENABLE_PRIVATE_SOLVERS=ON" >> $GITHUB_ENV | |
| echo "SKIP_PRIVATE_SOLVER_TEST=OFF" >> $GITHUB_ENV | |
| git config --global url."https://m-murooka_at_aist_go_jp:${GITLAB_TOKEN}@gite.lirmm.fr/".insteadOf git@gite.lirmm.fr: | |
| else | |
| echo "NOT install private solvers." | |
| echo "ENABLE_PRIVATE_SOLVERS=OFF" >> $GITHUB_ENV | |
| echo "SKIP_PRIVATE_SOLVER_TEST=ON" >> $GITHUB_ENV | |
| fi | |
| env: | |
| GITLAB_TOKEN : ${{ secrets.GITLAB_TOKEN }} | |
| - name: Install ROS | |
| if: matrix.standalone == 'catkin' | |
| run: | | |
| set -e | |
| set -x | |
| sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' | |
| wget http://packages.ros.org/ros.key -O - | sudo apt-key add - | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq ros-${ROS_DISTRO}-ros-base ${PYTHON_PACKAGE_PREFIX}-catkin-tools ${PYTHON_PACKAGE_PREFIX}-rosdep doxygen graphviz | |
| - name: Setup catkin workspace | |
| if: matrix.standalone == 'catkin' | |
| run: | | |
| set -e | |
| set -x | |
| mkdir -p ${GITHUB_WORKSPACE}/catkin_ws/src/ | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . /opt/ros/${ROS_DISTRO}/setup.bash | |
| set -x | |
| catkin init | |
| catkin build --limit-status-rate 0.1 | |
| - name: Checkout repository code | |
| if: matrix.standalone == 'catkin' | |
| uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| path: catkin_ws/src/QpSolverCollection | |
| - name: Checkout repository code | |
| if: matrix.standalone == 'standalone' | |
| uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Rosdep install | |
| if: matrix.standalone == 'catkin' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . devel/setup.bash | |
| set -x | |
| sudo rosdep init | |
| rosdep update | |
| rosdep install -y -r --from-paths src --ignore-src | |
| - name: Install solvers via apt | |
| if: matrix.solvers-from-source == 'SolversFromAPT' | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/head | |
| apt: libmetis-dev libeigen3-dev libgtest-dev graphviz doxygen libeigen-qld-dev libeigen-quadprog-dev libjrl-qp-dev libqpoases-dev libosqp-eigen-dev libnasoq-dev libhpipm-dev libproxsuite-dev libqpmad-dev | |
| - name: Install solvers from source | |
| if: matrix.solvers-from-source == 'SolversFromSource' | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| ubuntu: | | |
| apt: libmetis-dev libeigen3-dev libgtest-dev graphviz doxygen | |
| github: | | |
| - path: jrl-umi3218/eigen-qld | |
| options: -DBUILD_TESTING=OFF -DPYTHON_BINDING=OFF -DINSTALL_DOCUMENTATION=OFF | |
| - path: jrl-umi3218/eigen-quadprog | |
| options: -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF | |
| - path: jrl-umi3218/jrl-qp | |
| options: -DBUILD_TESTING=OFF -DBUILD_BENCHMARKS=OFF -DINSTALL_DOCUMENTATION=OFF | |
| - path: coin-or/qpOASES | |
| options: -DBUILD_SHARED_LIBS=ON -DQPOASES_BUILD_EXAMPLES=OFF | |
| - path: osqp/osqp | |
| - path: robotology/osqp-eigen | |
| - path: mmurooka/nasoq | |
| ref: cmake-install | |
| options: -DCMAKE_INSTALL_PREFIX=/usr/local -DNASOQ_BLAS_BACKEND=OpenBLAS -DNASOQ_USE_CLAPACK=ON -DNASOQ_BUILD_CLI=OFF -DNASOQ_BUILD_EXAMPLES=OFF -DNASOQ_BUILD_TESTS=OFF -DNASOQ_BUILD_DOCS=OFF | |
| - path: giaf/blasfeo | |
| options: -DBUILD_SHARED_LIBS=ON -DTARGET=X64_AUTOMATIC -DBLASFEO_EXAMPLES=OFF | |
| - path: giaf/hpipm | |
| options: -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF | |
| - path: Simple-Robotics/proxsuite | |
| ref: main | |
| options: -DBUILD_TESTING=OFF -DBUILD_WITH_VECTORIZATION_SUPPORT=OFF | |
| - path: asherikov/qpmad | |
| - name: Install private solvers | |
| if: env.ENABLE_PRIVATE_SOLVERS == 'ON' | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| github: | | |
| - path: git@gite.lirmm.fr:multi-contact/eigen-lssol | |
| options: -DBUILD_TESTING=OFF -DPYTHON_BINDING=OFF -DINSTALL_DOCUMENTATION=OFF | |
| - name: Catkin build | |
| if: matrix.standalone == 'catkin' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . devel/setup.bash | |
| set -x | |
| catkin build --limit-status-rate 0.1 -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} \ | |
| -DDEFAULT_ENABLE_ALL=ON -DENABLE_LSSOL=${{ env.ENABLE_PRIVATE_SOLVERS }} \ | |
| -DSKIP_PRIVATE_SOLVER_TEST=${{ env.SKIP_PRIVATE_SOLVER_TEST }} -DFORCE_ALL_SOLVER_TEST=ON -DINSTALL_DOCUMENTATION=ON | |
| - name: Run tests | |
| if: matrix.standalone == 'catkin' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . devel/setup.bash | |
| set -x | |
| catkin build --limit-status-rate 0.1 --catkin-make-args run_tests -- qp_solver_collection --no-deps | |
| catkin_test_results --verbose --all build | |
| - name: Build and test | |
| if: matrix.standalone == 'standalone' | |
| uses: jrl-umi3218/github-actions/build-cmake-project@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| options: -DDEFAULT_ENABLE_ALL=ON -DENABLE_LSSOL=${{ env.ENABLE_PRIVATE_SOLVERS }} -DSKIP_PRIVATE_SOLVER_TEST=${{ env.SKIP_PRIVATE_SOLVER_TEST }} -DFORCE_ALL_SOLVER_TEST=ON -DINSTALL_DOCUMENTATION=ON | |
| - name: Upload documentation | |
| # Only run for one configuration and on origin master branch | |
| if: matrix.os == 'ubuntu-20.04' && matrix.build-type == 'RelWithDebInfo' && matrix.standalone == 'catkin' && matrix.solvers-from-source == 'SolversFromAPT' && github.repository_owner == 'isri-aist' && github.ref == 'refs/heads/master' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws/src/QpSolverCollection | |
| git config --global user.name "Masaki Murooka" | |
| git config --global user.email "m-murooka@aist.go.jp" | |
| git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/QpSolverCollection" | |
| git fetch --depth=1 origin gh-pages:gh-pages | |
| git checkout --quiet gh-pages | |
| rm -rf doxygen/ | |
| cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/qp_solver_collection/doc/html/ doxygen | |
| git add doxygen | |
| git_status=`git status -s` | |
| if test -n "$git_status"; then | |
| git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}" | |
| git push origin gh-pages | |
| else | |
| echo "Github pages documentation is already up-to-date." | |
| fi |