ci.yml

name: CI Workflow

on:
  push:
  pull_request_target:
    types: [opened, synchronize, reopened]
    branches:
      - 'master'
      - 'yarp-*'
      - 'feature/*'
      - 'CI/*'
  release:
    types: [published]

jobs:

  select_environment:
    name: 'Prepare Environment'
    runs-on: ubuntu-22.04
    outputs:
      timestamp: ${{ steps.select.outputs.timestamp }}
      repository_owner: ${{ steps.select.outputs.repository_owner }}
      repository_name: ${{ steps.select.outputs.repository_name }}
      repository: ${{ steps.select.outputs.repository }}
      ref: ${{ steps.select.outputs.ref }}
      environment: ${{ steps.select.outputs.environment }}
      sha: ${{ steps.select.outputs.sha }}
      head_ref: ${{ steps.select.outputs.head_ref }}
      base_ref: ${{ steps.select.outputs.base_ref }}
      pr_number: ${{ steps.select.outputs.pr_number }}
      yarp_version: ${{ steps.select.outputs.yarp_version }}
    steps:
    - name: "Set output variables"
      id: select
      run: |
        echo "timestamp=$(/bin/date -u +%Y%m%d-%H%M%S)" >> $GITHUB_OUTPUT

        echo "repository_owner=${{ github.repository_owner }}" >> $GITHUB_OUTPUT
        echo "repository_name=$(cat $GITHUB_EVENT_PATH | jq -r .repository.name)" >> $GITHUB_OUTPUT
        echo "repository=${{ github.repository }}" >> $GITHUB_OUTPUT

        if [[ "$GITHUB_EVENT_NAME" = "pull_request_target" ]]; then
          echo "environment=code-analysis_unsafe" >> $GITHUB_OUTPUT
          echo "ref=refs/pull/$(cat $GITHUB_EVENT_PATH | jq -r .number)/merge" >> $GITHUB_OUTPUT
        else
          echo "environment=code-analysis" >> $GITHUB_OUTPUT
          echo "ref=${{ github.ref }}" >> $GITHUB_OUTPUT
        fi
        if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
          echo "sha=${{ github.event.pull_request.head.sha }}" >> $GITHUB_OUTPUT
          echo "head_ref=${GITHUB_HEAD_REF}" >> $GITHUB_OUTPUT
          echo "base_ref=${GITHUB_BASE_REF}" >> $GITHUB_OUTPUT
          echo "pr_number=$(cat $GITHUB_EVENT_PATH | jq -r .number)" >> $GITHUB_OUTPUT
        else
          echo "sha=${{ github.sha }}" >> $GITHUB_OUTPUT
        fi

        # Get YARP Project Version
        if [[ "$GITHUB_EVENT_NAME" = "release" ]]; then
          echo "yarp_version=$(awk '/ VERSION /{print $2}' CMakeLists.txt)" >> $GITHUB_OUTPUT
        fi

    - name: 'Debug output variables'
      env:
        TIMESTAMP: ${{ steps.select.outputs.timestamp }}
        REPOSITORY_OWNER: ${{ steps.select.outputs.repository_owner }}
        REPOSITORY_NAME: ${{ steps.select.outputs.repository_name }}
        REPOSITORY: ${{ steps.select.outputs.repository }}
        REF: ${{ steps.select.outputs.ref }}
        ENVIRONMENT: ${{ steps.select.outputs.environment }}
        SHA: ${{ steps.select.outputs.sha }}
        HEAD_REF: ${{ steps.select.outputs.head_ref }}
        BASE_REF: ${{ steps.select.outputs.base_ref }}
        PR_NUMBER: ${{ steps.select.outputs.pr_number }}
        YARP_VERSION: ${{ steps.select.outputs.yarp_version }}
      run: |
        echo "TIMESTAMP = ${TIMESTAMP}"
        echo "REPOSITORY_OWNER = ${REPOSITORY_OWNER}"
        echo "REPOSITORY_NAME = ${REPOSITORY_NAME}"
        echo "REPOSITORY = ${REPOSITORY}"
        echo "REF = ${REF}"
        echo "ENVIRONMENT = ${ENVIRONMENT}"
        echo "SHA = ${SHA}"
        echo "HEAD_REF = ${HEAD_REF}"
        echo "BASE_REF = ${BASE_REF}"
        echo "PR_NUMBER = ${PR_NUMBER}"
        echo "YARP_VERSION = ${YARP_VERSION}"

    - name: "Print Environment"
      run: |
        env

    - name: "Print Event Json"
      run: |
        echo "::group::install jq"
        sudo apt-get update -qq
        sudo apt-get install -qq -y jq
        echo "::endgroup::"

        cat $GITHUB_EVENT_PATH | jq -C

  check-license:
    name: 'Check License'
    needs: select_environment
    runs-on: ubuntu-22.04
    steps:
    - name: Clone repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}

    - name: Install Dependencies
      run: |
        sudo apt-get update -qq
        sudo apt-get install -qq -y perl

    - name: Check License
      run: |
        tests/misc/check_license.pl


  check-style:
    name: 'Check Style'
    needs: select_environment
    runs-on: ubuntu-22.04
    steps:
    - name: Clone repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}

    - name: Install Dependencies
      run: |
        sudo apt-get update -qq
        sudo apt-get install -qq -y perl

    - name: Check Style
      run: |
        tests/misc/check_style.pl


  check-tests:
    name: 'Check Devices Tests'
    needs: select_environment
    runs-on: ubuntu-20.04
    steps:
    - name: Clone repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}

    - name: Install Dependencies
      run: |
        sudo apt-get update -qq
        sudo apt-get install -qq -y python3

    - name: Check Devices Tests
      run: |
        python3 tests/misc/check_tests.py


  run-cmake:
    name: 'Run CMake [CMake ${{ matrix.config.cmake_version }} (${{ matrix.config.cmake_generator }}), YCM ${{ matrix.config.ycm_version }}]'
    needs: [select_environment, check-license, check-style]
    runs-on: ubuntu-22.04
    strategy:
      fail-fast: false
      matrix:
        config:
        - {
            cmake_version: "3.19.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.20.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.20.*",
            cmake_generator: "Ninja",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.21.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.22.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.23.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.24.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.25.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.26.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.27.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
        - {
            cmake_version: "3.28.*",
            cmake_generator: "Unix Makefiles",
            ycm_version: "0.15.3",
          }
    steps:
    - name: remove any previous installation of cmake
      run: | 
        sudo rm /usr/local/bin/cmake
        
    - name: install cmake
      run: |
        wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
        echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
        sudo apt-get update
        sudo rm /usr/share/keyrings/kitware-archive-keyring.gpg
        sudo apt-get -y install kitware-archive-keyring
        sudo apt-cache policy cmake-data
        sudo apt-cache policy cmake
        sudo apt-get -y install cmake-data=${{matrix.config.cmake_version}}
        sudo apt-get -y -f install cmake=${{matrix.config.cmake_version}}

    - name: Print CMake version
      run: |
        which cmake
        cmake --version
        /usr/bin/cmake --version

    - name: Get YCM package
      run: |
        wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
        sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

    - name: Print YCM version
      run: |
        grep YCM_VERSION /usr/share/cmake/YCM/YCMConfig.cmake

    - name: Clone Yarp repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}

    - name: Run CMake
      run: |
        mkdir build
        cd build
        cmake .. -DSKIP_ACE=ON


  build:
    name: '[${{ matrix.config.id }}][${{ matrix.config.os }}|${{ matrix.config.cc }}|${{ matrix.config.cmake_generator }} (${{ matrix.config.cmake_toolset }} ${{ matrix.config.cmake_platform }})|${{ matrix.config.build_type }}] ${{ matrix.config.description }}'
    needs: [select_environment, run-cmake]
    runs-on: ${{ matrix.config.os }}
    strategy:
      fail-fast: false
      matrix:
        config:
        - {
            id: '01',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            test_external_bindings: true,
          }
        - {
            id: '02',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            test_external_bindings: true,
          }
        - {
            id: '03',
            description: 'No ACE',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE=ON
                                  -DSKIP_ACE:BOOL=ON",
            test_external_bindings: true,
          }
        - {
            id: '04',
            description: 'No ACE',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
                                  -DSKIP_ACE:BOOL=ON",
            test_external_bindings: true,
          }
        - {
            id: '05',
            description: 'No YARP_math (bindings disabled)',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
                                  -DYARP_COMPILE_libYARP_math:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '06',
            description: 'No YARP_math (bindings disabled)',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
                                  -DYARP_COMPILE_libYARP_math:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '07',
            description: 'CLEAN_API (unit tests and bindings disabled)',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
                                  -DYARP_COMPILE_TESTS:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '08',
            description: 'CLEAN_API (unit tests and bindings disabled)',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
                                  -DYARP_COMPILE_TESTS:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '09',
            description: 'Static',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
          }
        - {
            id: '10',
            description: 'Static',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
          }
        - {
            id: '11',
            description: 'Static, no ACE (bindings disabled)',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
                                  -DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
                                  -DSKIP_ACE:BOOL=ON
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '12',
            description: 'Static, no ACE (bindings disabled)',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
                                  -DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
                                  -DSKIP_ACE:BOOL=ON
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '13',
            description: 'No deprecated',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
          }
        - {
            id: '14',
            description: 'No deprecated',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
          }
        - {
            id: '15',
            description: 'No executables (unit tests disabled)',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
                                  -DYARP_COMPILE_TESTS:BOOL=OFF",
          }
        - {
            id: '16',
            description: 'No executables (unit tests disabled)',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
                                  -DYARP_COMPILE_TESTS:BOOL=OFF",
          }
        - {
            id: '17',
            description: 'Build extern dependencies',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
          }
        - {
            id: '18',
            description: 'Build extern dependencies',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
          }
        - {
            id: '19',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Ninja",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
          }
        - {
            id: '20',
            os: ubuntu-22.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Ninja",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
          }
        - {
            id: '21',
            description: 'Valgrind (bindings, failing tests, guis and examples as tests disabled)',
            os: ubuntu-22.04,
            build_type: "Debug",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_VALGRIND_TESTS:BOOL=ON
                                  -DYARP_DISABLE_FAILING_TESTS:BOOL=ON
                                  -DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
                                  -DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF
                                  -DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
                                  -DYARP_COMPILE_GUIS:BOOL=OFF
                                  -DENABLE_yarpmod_usbCamera:BOOL=OFF
                                  -DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
                                  -DENABLE_yarpmod_portaudio:BOOL=OFF
                                  -DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
                                  -DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
                                  -DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
          }
        - {
            id: '22',
            description: 'Valgrind, No ACE (bindings, failing tests, guis and examples as tests disabled)',
            os: ubuntu-22.04,
            build_type: "Debug",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
                                  -DSKIP_ACE:BOOL=ON
                                  -DYARP_VALGRIND_TESTS:BOOL=ON
                                  -DYARP_DISABLE_FAILING_TESTS:BOOL=ON
                                  -DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
                                  -DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF
                                  -DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
                                  -DYARP_COMPILE_GUIS:BOOL=OFF
                                  -DENABLE_yarpmod_usbCamera:BOOL=OFF
                                  -DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
                                  -DENABLE_yarpmod_portaudio:BOOL=OFF
                                  -DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
                                  -DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
                                  -DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
          }
        - {
            id: '101',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            test_external_bindings: true,
          }
        - {
            id: '102',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            test_external_bindings: true,
          }
        - {
            id: '103',
            description: 'No ACE',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE=ON
                                  -DSKIP_ACE:BOOL=ON",
            test_external_bindings: true,
          }
        - {
            id: '104',
            description: 'No ACE',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
                                  -DSKIP_ACE:BOOL=ON",
            test_external_bindings: true,
          }
        - {
            id: '105',
            description: 'No YARP_math (bindings disabled)',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
                                  -DYARP_COMPILE_libYARP_math:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '106',
            description: 'No YARP_math (bindings disabled)',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
                                  -DYARP_COMPILE_libYARP_math:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '107',
            description: 'CLEAN_API (unit tests and bindings disabled)',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
                                  -DYARP_COMPILE_TESTS:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '108',
            description: 'CLEAN_API (unit tests and bindings disabled)',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
                                  -DYARP_COMPILE_TESTS:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '109',
            description: 'Static',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
          }
        - {
            id: '110',
            description: 'Static',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
          }
        - {
            id: '111',
            description: 'Static, no ACE (bindings disabled)',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
                                  -DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
                                  -DSKIP_ACE:BOOL=ON
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '112',
            description: 'Static, no ACE (bindings disabled)',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
                                  -DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
                                  -DSKIP_ACE:BOOL=ON
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF",
          }
        - {
            id: '113',
            description: 'No deprecated',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
          }
        - {
            id: '114',
            description: 'No deprecated',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
          }
        - {
            id: '115',
            description: 'No executables (unit tests disabled)',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
                                  -DYARP_COMPILE_TESTS:BOOL=OFF",
          }
        - {
            id: '116',
            description: 'No executables (unit tests disabled)',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
                                  -DYARP_COMPILE_TESTS:BOOL=OFF",
          }
        - {
            id: '117',
            description: 'Build extern dependencies',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
          }
        - {
            id: '118',
            description: 'Build extern dependencies',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
                                  -DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
          }
        - {
            id: '119',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Ninja",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
          }
        - {
            id: '120',
            os: ubuntu-24.04,
            build_type: "Release",
            cc: "clang-17",
            cxx: "clang++-17",
            cmake_generator: "Ninja",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
          }
        - {
            id: '121',
            description: 'Valgrind (bindings, failing tests, guis and examples as tests disabled)',
            os: ubuntu-24.04,
            build_type: "Debug",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DYARP_VALGRIND_TESTS:BOOL=ON
                                  -DYARP_DISABLE_FAILING_TESTS:BOOL=ON
                                  -DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
                                  -DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF
                                  -DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
                                  -DYARP_COMPILE_GUIS:BOOL=OFF
                                  -DENABLE_yarpmod_usbCamera:BOOL=OFF
                                  -DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
                                  -DENABLE_yarpmod_portaudio:BOOL=OFF
                                  -DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
                                  -DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
                                  -DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
          }
        - {
            id: '122',
            description: 'Valgrind, No ACE (bindings, failing tests, guis and examples as tests disabled)',
            os: ubuntu-24.04,
            build_type: "Debug",
            cc: "gcc",
            cxx: "g++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
            cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
                                  -DSKIP_ACE:BOOL=ON
                                  -DYARP_VALGRIND_TESTS:BOOL=ON
                                  -DYARP_DISABLE_FAILING_TESTS:BOOL=ON
                                  -DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
                                  -DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
                                  -DYARP_COMPILE_BINDINGS:BOOL=OFF
                                  -DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
                                  -DYARP_COMPILE_GUIS:BOOL=OFF
                                  -DENABLE_yarpmod_usbCamera:BOOL=OFF
                                  -DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
                                  -DENABLE_yarpmod_portaudio:BOOL=OFF
                                  -DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
                                  -DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
                                  -DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
          }
        - {
            id: '201',
            os: windows-2019,
            build_type: "Release",
            cc: "cl",
            cxx: "cl",
            cmake_generator: "Visual Studio 16 2019",
            cmake_toolset: "v142",
            cmake_platform: "x64",
            cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
            cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
            environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
          }
        - {
            id: '202',
            os: windows-2019,
            build_type: "Release",
            cc: "cl",
            cxx: "cl",
            cmake_generator: "Visual Studio 16 2019",
            cmake_toolset: "v141",
            cmake_platform: "x64",
            cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
            cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
            environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
          }
        - {
            id: '203',
            os: windows-2019,
            build_type: "Release",
            cc: "cl",
            cxx: "cl",
            cmake_generator: "Ninja",
            cmake_toolset: "v142",
            cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
            cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
            environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
          }
        - {
            id: '204',
            os: windows-2019,
            build_type: "Release",
            cc: "cl",
            cxx: "cl",
            cmake_generator: "Ninja",
            cmake_toolset: "v141",
            cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
            cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
            environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
          }
        - {
            id: '205',
            os: windows-2022,
            build_type: "Release",
            cc: "cl",
            cxx: "cl",
            cmake_generator: "Visual Studio 17 2022",
            cmake_toolset: "v143",
            cmake_platform: "x64",
            cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
            cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
            environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2022/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
          }
        - {
            id: '206',
            os: windows-2022,
            build_type: "Release",
            cc: "cl",
            cxx: "cl",
            cmake_generator: "Visual Studio 17 2022",
            cmake_toolset: "v142",
            cmake_platform: "x64",
            cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
            cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
            environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2022/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
          }
        - {
            id: '301',
            os: macos-13,
            build_type: "Release",
            cc: "clang",
            cxx: "clang++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
          }
        - {
            id: '302',
            os: macos-13,
            build_type: "Release",
            cc: "clang",
            cxx: "clang++",
            cmake_generator: "Xcode",
            cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
          }
        - {
            id: '303',
            os: macos-12,
            build_type: "Release",
            cc: "clang",
            cxx: "clang++",
            cmake_generator: "Unix Makefiles",
            cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
          }
        - {
            id: '304',
            os: macos-12,
            build_type: "Release",
            cc: "clang",
            cxx: "clang++",
            cmake_generator: "Xcode",
            cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
          }

    steps:

    - name: Clone repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}

    - name: Handle cache
      uses: actions/cache@v3
      with:
        path: |
          .ccache
        key: build-${{ matrix.config.id }}-ccache-${{ github.ref }}-${{ needs.select_environment.outputs.timestamp }}
        restore-keys: |
          build-${{ matrix.config.id }}-${{ github.base_ref }}-ccache-
          build-${{ matrix.config.id }}-${{ github.ref }}-ccache-

    - name: Dependencies [Linux]
      if: runner.os == 'Linux'
      shell: bash
      run: |
          # Install dep for gstreamer. It must be the first one.
          sudo apt-get update
          sudo apt-get install -y      libunwind-dev

          #Install clang 17
          sudo apt-get purge -y llvm* clang*
          wget -nv https://apt.llvm.org/llvm.sh
          sudo chmod +x llvm.sh
          sudo ./llvm.sh 17

          # Install Robotology dependencies from robotology ppa
          sudo apt-add-repository -y ppa:robotology/ppa
          sudo apt-get install -qq -y librobottestingframework-dev
          sudo apt-get update

          # Install cmake
          sudo apt-get install -qq -y cmake
          which cmake
          cmake --version
          /usr/bin/cmake --version

          # Install ycm
          wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
          sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

          # Install build tools
          sudo apt-get install -qq -y ccache \
                                      ninja-build \
                                      valgrind

          sudo apt-get install -y     libace-dev

          sudo apt-get install -y     libsqlite3-dev \
                                      libtinyxml-dev \
                                      libedit-dev \
                                      qtbase5-dev \
                                      qtdeclarative5-dev \
                                      qtmultimedia5-dev \
                                      libqt5opengl5-dev \
                                      libqcustomplot-dev \
                                      libopencv-dev \
                                      libeigen3-dev \
                                      libgraphviz-dev \
                                      libpng-dev \
                                      libv4l-dev \
                                      libavcodec-dev \
                                      libavdevice-dev \
                                      libavformat-dev \
                                      libavutil-dev \
                                      portaudio19-dev \
                                      libsdl1.2-dev \
                                      libopenni2-dev \
                                      libftdi-dev \
                                      libi2c-dev \
                                      libjpeg-dev \
                                      libpcl-dev \
                                      libsoxr-dev

          sudo apt-get install -y     libgstreamer1.0-dev \
                                      libgstreamer-plugins-base1.0-dev

          # Install bindings dependencies
          sudo apt-get install -qq -y mono-mcs \
                                      liblua5.3-dev \
                                      lua5.3 \
                                      tcl-dev \
                                      tk-dev \
                                      python3-dev \
                                      octave-dev \
                                      ruby-dev \
                                      ruby \
                                      perl

          # Install SWIG
          # On Ubuntu 24.04 this corresponds to swig 4.2.0 which is affected by a bug: https://github.com/robotology/yarp/issues/3083
          # sudo apt-get install -qq -y swig 
          #
          # we thus install manually swig 4.2.1
          sudo apt-get purge -y swig
          wget -nv https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
          unzip -q swig_4_2_1_ubuntu_24_04.zip
          sudo mv swig_4_2_1_ubuntu_24_04_install/bin/* /usr/bin
          sudo mv swig_4_2_1_ubuntu_24_04_install/share/swig /usr/share
          echo "BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS=-DSWIG_EXECUTABLE=/usr/bin/swig -DSWIG_DIR=/usr/share/swig/4.2.1" >> $GITHUB_ENV

          echo "***123a***"
          cat $GITHUB_ENV
          echo "***123aa***"
          echo $BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS
          echo "***123aaa***"

          # Other tools useful in github actions
          sudo apt-get install -qq -y jq \
                                      wget \
                                      curl \
                                      lcov \
                                      gcovr \
                                      xsltproc \
                                      libxml2-utils \
                                      source-highlight

          # Remove old packages from apt cache
          sudo apt-get autoclean -qq

    - name: Dependencies [Windows]
      if: runner.os == 'Windows'
      run: |
          echo "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 --no-progress -y wget 7zip
          echo ""
          echo " Download and install SWIG"
          wget -nv https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip -O swigwin.zip
          7z x swigwin.zip
          mv swigwin-4.2.1/swig.exe swig.exe
          echo ""
          echo " To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg that has been used to create the pre-compiled archive"
          wget -nv https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/v0.10.1/vcpkg-robotology-yarp-only.zip
          7z x -oC:\ vcpkg-robotology-yarp-only.zip
          echo ""
          echo " Download and install YCM "
          wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.tar.gz -O ycm.tar.gz
          7z x ycm.tar.gz
          7z x -ttar -oC:\robotology ycm.tar
          echo ""
          echo " Download and install ccache "
          wget -nv https://github.com/cristianadam/ccache/releases/download/v3.7.7/Windows.tar.xz -O ccache.tar.xz
          7z x ccache.tar.xz
          7z x -ttar ccache.tar

    - name: Dependencies [macOS]
      if: runner.os == 'macOS'
      run: |
          # Temporary workaround for https://github.com/actions/setup-python/issues/577
          rm -f /usr/local/bin/2to3
          rm -f /usr/local/bin/2to3-3.11
          rm -f /usr/local/bin/2to3-3.12
          rm -f /usr/local/bin/idle3
          rm -f /usr/local/bin/idle3.11
          rm -f /usr/local/bin/idle3.12
          rm -f /usr/local/bin/pydoc3
          rm -f /usr/local/bin/pydoc3.11
          rm -f /usr/local/bin/pydoc3.12
          rm -f /usr/local/bin/python3
          rm -f /usr/local/bin/python3.11
          rm -f /usr/local/bin/python3.12
          rm -f /usr/local/bin/python3-config
          rm -f /usr/local/bin/python3.11-config
          rm -f /usr/local/bin/python3.12-config

          wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.tar.gz -O /Users/runner/work/yarp/ycm.tar.gz
          7z x /Users/runner/work/yarp/ycm.tar.gz -o/Users/runner/work/yarp
          7z x -ttar /Users/runner/work/yarp/ycm.tar -o/Users/runner/work/yarp
          
          brew update
          brew install ccache
          brew install ace
          brew install sqlite tinyxml libedit libpng qt5 opencv eigen graphviz libsoxr

    - name: Prepare Environment Script
      id: prepare_environment_script
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        set(_env_script ${CMAKE_CURRENT_LIST_DIR}/environment_script.cmake)
        file(WRITE "${_env_script}" "")

        # if YCM is installed manually, set YCM_DIR to allow CMake to find it
        if("${{ runner.os }}" STREQUAL "Windows")
          file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"C:\\\\robotology\\\\YCM-0.15.3-all\")\n")
        elseif("${{ runner.os }}" STREQUAL "macOS")
          file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"/Users/runner/work/yarp/YCM-0.15.3-all\")\n")
        endif()

        if("${{ runner.os }}" STREQUAL "Windows" AND NOT "${{ matrix.config.environment_script }}" STREQUAL "")
          execute_process(
              COMMAND "${{ matrix.config.environment_script }}" && set
              OUTPUT_FILE environment_script_output.txt
          )
          file(STRINGS environment_script_output.txt output_lines)

          foreach(line IN LISTS output_lines)
            if(line MATCHES "^([a-zA-Z0-9_-]+)=(.*)$")
              set(_key "${CMAKE_MATCH_1}")
              set(_value "${CMAKE_MATCH_2}")
              string(REPLACE "\\" "\\\\" _value "${_value}")
              file(APPEND "${_env_script}" "set(ENV{${_key}} \"${_value}\")\n")
            endif()
          endforeach()

          # Ninja and other tools are downloaded in $GITHUB_WORKSPACE
          file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\")\n")

          # Append vcpkg bin directory to the PATH
          if("${{ matrix.config.build_type }}" STREQUAL "Release")
            file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\bin\")\n")
          else()
            file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\debug\\\\bin\")\n")
          endif()

          # Append output bin directory to the PATH
          if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio")
            file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\\\\${{ matrix.config.build_type }}\")\n")
          elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja")
            file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\")\n")
          endif()
        endif()

        file(APPEND "${_env_script}" "set(ENV{CC} ${{ matrix.config.cc }})\n")
        file(APPEND "${_env_script}" "set(ENV{CXX} ${{ matrix.config.cxx }})\n")

        if("${{ matrix.config.cc }}" MATCHES "gcc")
          file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fdiagnostics-color=always)\n")
          file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fdiagnostics-color=always)\n")
        elseif("${{ matrix.config.cc }}" MATCHES "^clang.*")
          file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fcolor-diagnostics)\n")
          file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fcolor-diagnostics)\n")
        endif()

        file(APPEND "${_env_script}" "file(TO_CMAKE_PATH \"\$ENV{GITHUB_WORKSPACE}\" ccache_basedir)\n")
        file(APPEND "${_env_script}" "set(ENV{CCACHE_BASEDIR} \"\${ccache_basedir}\")\n")
        file(APPEND "${_env_script}" "set(ENV{CCACHE_DIR} \"\${ccache_basedir}/.ccache\")\n")
        file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESS} \"true\")\n")
        file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESSLEVEL} \"6\")\n")
        if("${{ matrix.config.cxx }}" STREQUAL "cl")
          file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"600M\")\n")
        else()
          file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"400M\")\n")
        endif()
        # Force ccache to build the original cpp file instead of the pre-processed file
        file(APPEND "${_env_script}" "set(ENV{CCACHE_CPP2} \"yes\")\n")

        # Prepend ccache lib dir on Linux and macOS
        if("${{ runner.os }}" STREQUAL "Linux")
          file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/lib/ccache:\$ENV{PATH}\")\n")
        elseif("${{ runner.os }}" STREQUAL "macOS")
          file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/local/opt/ccache/libexec:\$ENV{PATH}\")\n")
        endif()

        # CMake/CTest variables
        file(APPEND "${_env_script}" "set(ENV{CTEST_OUTPUT_ON_FAILURE} \"1\")\n")
        file(APPEND "${_env_script}" "set(ENV{CLICOLOR_FORCE} \"1\")\n")

        # YARP variables
        file(APPEND "${_env_script}" "set(ENV{YARP_PORT_RANGE} \"20000\")\n")

        # Add execute_process_x() macro
        file(APPEND "${_env_script}" "
        function(execute_process_x)
          set(_options)
          set(_oneValueArgs RESULT_VARIABLE WORKING_DIRECTORY)
          set(_multiValueArgs COMMAND)
          cmake_parse_arguments(_x \"\${_options}\" \"\${_oneValueArgs}\" \"\${_multiValueArgs}\" \${ARGN})

          string(REPLACE \";\" \" \" _cmd \"\${_x_COMMAND}\")
          string(REPLACE \"\\\\\" \"\\\\\\\\\" _cmd \"\${_cmd}\")
          message(STATUS \"\\n\$ \${_cmd}\")

          if(DEFINED _x_WORKING_DIRECTORY)
            set(_wd WORKING_DIRECTORY \"\${_x_WORKING_DIRECTORY}\")
          endif()
          execute_process(COMMAND \${_x_COMMAND}
                          \${_wd}
                          RESULT_VARIABLE _result)
          if(NOT _result EQUAL 0)
            message(WARNING \"The command \\\"\${_cmd}\\\" failed with result \\\"\${_result}\\\"\")
          endif()
          if(DEFINED _x_RESULT_VARIABLE)
            set(\${_x_RESULT_VARIABLE} \${_result} PARENT_SCOPE)
          endif()
        endfunction()
        ")

        file(APPEND "$ENV{GITHUB_OUTPUT}" "environment_script=${_env_script}\n")

    - name: Print Environment Script
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        file(READ "${{ steps.prepare_environment_script.outputs.environment_script }}" _out)
        message("${_out}")

    - name: Print system information
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        set(_which_cmd which)
        set(_env_cmd env)
        if("${{ runner.os }}" STREQUAL "Windows")
          set(_which_cmd where)
          set(_env_cmd env)
        endif()

        if(UNIX)
          execute_process_x(COMMAND uname -a)
        endif()

        if("${{ runner.os }}" STREQUAL "Linux")
          execute_process_x(COMMAND lsb_release -a)
          execute_process_x(COMMAND cat /etc/apt/sources.list)
          execute_process_x(COMMAND ls -la --color=always /etc/apt/sources.list.d)
          file(GLOB _list_files "/etc/apt/sources.list.d/*.list")
          foreach(_list_file IN LISTS _list_files)
            execute_process_x(COMMAND cat ${_list_file})
          endforeach()
        elseif("${{ runner.os }}" STREQUAL "macOS")
          execute_process_x(COMMAND system_profiler SPSoftwareDataType)
        elseif("${{ runner.os }}" STREQUAL "Windows")
          execute_process_x(COMMAND Systeminfo)
        endif()

        execute_process_x(COMMAND ${_which_cmd} cmake)
        execute_process_x(COMMAND cmake --version)

        if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio")
          execute_process_x(COMMAND ${_which_cmd} msbuild)
          execute_process_x(COMMAND msbuild /version)
        elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja")
          execute_process_x(COMMAND ${_which_cmd} ninja)
          execute_process_x(COMMAND ninja --version)
        elseif("${{ matrix.config.cmake_generator }}" MATCHES "Unix Makefiles")
          execute_process_x(COMMAND ${_which_cmd} make)
          execute_process_x(COMMAND make --version)
        elseif("${{ matrix.config.cmake_generator }}" MATCHES "Xcode")
          execute_process_x(COMMAND ${_which_cmd} xcodebuild)
          execute_process_x(COMMAND xcodebuild -version)
        endif()

        execute_process_x(COMMAND ${_which_cmd} $ENV{CC})
        execute_process_x(COMMAND ${_which_cmd} $ENV{CXX})
        if("$ENV{CC}" STREQUAL "cl")
          execute_process_x(COMMAND $ENV{CC})
          execute_process_x(COMMAND $ENV{CXX})
        else()
          execute_process_x(COMMAND $ENV{CC} --version)
          execute_process_x(COMMAND $ENV{CXX} --version)
        endif()

        execute_process_x(COMMAND ${_which_cmd} ccache)
        execute_process_x(COMMAND ccache --version)
        execute_process_x(COMMAND ccache -p)
        if("${{ runner.os }}" STREQUAL "Linux")
          execute_process_x(COMMAND ls -la --color=always /usr/lib/ccache)
          execute_process_x(COMMAND ls -la --color=always $ENV{HOME}/lib/ccache)
        endif()

        execute_process_x(COMMAND ${_which_cmd} swig)
        execute_process_x(COMMAND swig -version)

        execute_process_x(COMMAND ${_which_cmd} javac)
        execute_process_x(COMMAND javac -version)

        if("${{ runner.os }}" STREQUAL "Linux")
          execute_process_x(COMMAND netstat -tulpn)
        endif()

        execute_process_x(COMMAND ${_env_cmd})

    - name: Configure
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        set(_generator)
        if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "")
          set(_generator -G "${{ matrix.config.cmake_generator }}")
        endif()

        set(_toolset)
        if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "")
          list(APPEND toolset -T ${{ matrix.config.cmake_toolset }})
        endif()

        set(_platform)
        if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "")
          list(APPEND _platform -A ${{ matrix.config.cmake_platform }})
        endif()

        set(_initial_cache_file)
        if(NOT "${{ matrix.config.cmake_initial_cache_file }}" STREQUAL "")
          set(_initial_cache_file -C "${{ matrix.config.cmake_initial_cache_file }}")
        endif()

        set(_toolchain_file)
        if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "")
          set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }})
        endif()

        set(_build_type)
        if(NOT "${{ matrix.config.build_type }}" STREQUAL "")
          set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }})
        endif()

        file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix)
        set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix})

        set(_cmake_compiler_lauchers )
        if("${{ runner.os }}" STREQUAL "Windows")
          find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE)
          set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd}
                                       -D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd})
        endif()

        set(_cmake_extra_options)
        if(NOT "${{ matrix.config.cmake_extra_options }}" STREQUAL "")
          set(_cmake_extra_options ${{ matrix.config.cmake_extra_options }})
        endif()

        #SWIG bugfix
        message ("***123b***")
        message ("${GITHUB_ENV}")
        message ("***123bb***")
        getenv  ("BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS" BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS)
        message ("${BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS}")
        message ("***123bbb***")
        set (_cmake_extra_options ${_cmake_extra_options} ${BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS})
        message ("${_cmake_extra_options}")
        message ("***123bbbb***")
        
        execute_process_x(
          COMMAND ${CMAKE_COMMAND}
            -S .
            -B build
            ${_generator}
            ${_toolset}
            ${_platform}
            ${_initial_cache_file}
            ${_toolchain_file}
            ${_build_type}
            ${_install_prefix}
            ${_cmake_compiler_lauchers}
            ${_cmake_extra_options}
          RESULT_VARIABLE _result
        )
        if(NOT _result EQUAL 0)
          message(FATAL_ERROR "Configure step failed")
        endif()

    - name: Build
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        execute_process_x(
          COMMAND ${CMAKE_COMMAND}
            --build build
            --config ${{ matrix.config.build_type }}
          RESULT_VARIABLE _result
        )
        if(NOT _result EQUAL 0)
          message(FATAL_ERROR "Build step failed")
        endif()

        # Print ccache stats
        execute_process_x(COMMAND ccache -s)

        # Reset ccache stats before uploading
        execute_process_x(COMMAND ccache -z)

    - name: Run tests
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        execute_process_x(
          COMMAND ${CMAKE_CTEST_COMMAND}
            --build-config ${{ matrix.config.build_type }}
            # We have random race conditions.
            # Allow up to 3 run of the same test
            --repeat until-pass:3
            --output-on-failure
          WORKING_DIRECTORY build
          RESULT_VARIABLE result
        )
        if(NOT result EQUAL 0)
          message(FATAL_ERROR "Test step failed")
        endif()

    - name: Status Check
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        execute_process_x(
          COMMAND git status --porcelain=v1
          WORKING_DIRECTORY .
          RESULT_VARIABLE result
          OUTPUT_VARIABLE output
        )
        if(NOT result EQUAL 0)
          message(FATAL_ERROR "Test step failed")
        endif()

        string(REGEX REPLACE "\n" ";" output "${output}")

        foreach(f IN LISTS output)
          string(REGEX REPLACE ".+ " "" f "${f}")
          message("::error file=${f},line=1,col=1::File modified.")
        endforeach()
        list(LENGTH output output_size)

        if(NOT output_size EQUAL 0)
          message(FATAL_ERROR "During build and tests, ${output_size} files were modified")
        endif()

    - name: Test installation
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        execute_process_x(
          COMMAND ${CMAKE_COMMAND}
            --install build
            --config ${{ matrix.config.build_type }}
            --strip
          RESULT_VARIABLE _result
        )
        if(NOT _result EQUAL 0)
          message(FATAL_ERROR "Installation step failed")
        endif()

    - name: Test bindings from build tree
      if: matrix.config.test_external_bindings
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        ### FIXME Can we avoid this duplication?

        set(_generator)
        if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "")
          set(_generator -G "${{ matrix.config.cmake_generator }}")
        endif()

        set(_toolset)
        if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "")
          list(APPEND toolset -T ${{ matrix.config.cmake_toolset }})
        endif()

        set(_platform)
        if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "")
          list(APPEND _platform -A ${{ matrix.config.cmake_platform }})
        endif()

        set(_initial_cache_file -C "$ENV{GITHUB_WORKSPACE}/.ci/bindings-cache.cmake")

        file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix)
        set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix})

        set(_toolchain_file)
        if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "")
          set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }})
        endif()

        set(_build_type)
        if(NOT "${{ matrix.config.build_type }}" STREQUAL "")
          set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }})
        endif()

        set(_cmake_compiler_lauchers )
        if("${{ runner.os }}" STREQUAL "Windows")
          find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE)
          set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd}
                                       -D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd})
        endif()

        execute_process_x(
          COMMAND ${CMAKE_COMMAND}
            -S bindings
            -B build-bindings-build-tree
            ${_generator}
            ${_toolset}
            ${_platform}
            ${_initial_cache_file}
            ${_toolchain_file}
            ${_build_type}
            ${_install_prefix}
            ${_cmake_compiler_lauchers}
            ${_cmake_extra_options}
            -DYARP_DIR=$ENV{GITHUB_WORKSPACE}/build
          RESULT_VARIABLE _result
        )
        if(NOT _result EQUAL 0)
          message(FATAL_ERROR "Configure bindings from build tree step failed")
        endif()

        execute_process_x(
          COMMAND ${CMAKE_COMMAND}
            --build build-bindings-build-tree
            --config ${{ matrix.config.build_type }}
          RESULT_VARIABLE _result
        )
        if(NOT _result EQUAL 0)
          message(FATAL_ERROR "Build bindings from build tree step failed")
        endif()

    - name: Test bindings from install tree
      if: matrix.config.test_external_bindings
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        ### FIXME Can we avoid this duplication?

        set(_generator)
        if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "")
          set(_generator -G "${{ matrix.config.cmake_generator }}")
        endif()

        set(_toolset)
        if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "")
          list(APPEND toolset -T ${{ matrix.config.cmake_toolset }})
        endif()

        set(_platform)
        if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "")
          list(APPEND _platform -A ${{ matrix.config.cmake_platform }})
        endif()

        set(_initial_cache_file -C "$ENV{GITHUB_WORKSPACE}/.ci/bindings-cache.cmake")

        file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix)
        set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix})

        set(_toolchain_file)
        if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "")
          set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }})
        endif()

        set(_build_type)
        if(NOT "${{ matrix.config.build_type }}" STREQUAL "")
          set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }})
        endif()

        set(_cmake_compiler_lauchers )
        if("${{ runner.os }}" STREQUAL "Windows")
          find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE)
          set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd}
                                       -D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd})
        endif()

        execute_process_x(
          COMMAND ${CMAKE_COMMAND}
            -S bindings
            -B build-bindings-install-tree
            ${_generator}
            ${_toolset}
            ${_platform}
            ${_initial_cache_file}
            ${_toolchain_file}
            ${_build_type}
            ${_install_prefix}
            ${_cmake_compiler_lauchers}
            ${_cmake_extra_options}
            -DYARP_DIR=$ENV{GITHUB_WORKSPACE}/install/lib/cmake/YARP
          RESULT_VARIABLE _result
        )
        if(NOT _result EQUAL 0)
          message(FATAL_ERROR "Configure bindings from install tree step failed")
        endif()

        execute_process_x(
          COMMAND ${CMAKE_COMMAND}
            --build build-bindings-install-tree
            --config ${{ matrix.config.build_type }}
          RESULT_VARIABLE _result
        )
        if(NOT _result EQUAL 0)
          message(FATAL_ERROR "Build bindings from build tree step failed")
        endif()

    - name: Compress installation files
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        execute_process_x(
          COMMAND ${CMAKE_COMMAND} -E tar cvf $ENV{GITHUB_WORKSPACE}/install.tar --format=gnutar --files-from=$ENV{GITHUB_WORKSPACE}/build/install_manifest.txt
          WORKING_DIRECTORY "$ENV{GITHUB_WORKSPACE}/install"
        )

    - name: Upload artifact
      uses: actions/upload-artifact@v3
      with:
        name: installation-${{ matrix.config.id }}
        path: install.tar
        retention-days: 2

    - name: Cleanup
      shell: cmake -P {0}
      run: |
        cmake_minimum_required(VERSION 3.19)
        include(${{ steps.prepare_environment_script.outputs.environment_script }})

        # Reset ccache stats before uploading
        execute_process_x(COMMAND ccache -z)


  codacy-clang-tidy:
    environment: code-analysis
    name: 'Codacy - clang-tidy'
    needs: [select_environment, run-cmake]
    runs-on: ubuntu-22.04
    steps:
    - name: Clone repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}

    # This step is copied from the build step, please keep them in sync until we
    # find a better way to do it automatically
    - name: Dependencies [Linux]
      if: runner.os == 'Linux'
      shell: bash
      run: |
          # Install dep for gstreamer. It must be the first one.
          sudo apt-get update
          sudo apt-get install -y      libunwind-dev

          # Install Robotology dependencies from robotology ppa
          sudo apt-add-repository -y ppa:robotology/ppa
          sudo apt-get install -qq -y librobottestingframework-dev

          # Install cmake
          sudo apt-get install -qq -y cmake
          which cmake
          cmake --version
          /usr/bin/cmake --version

          # Install ycm
          wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
          sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

          # Install build tools
          sudo apt-get install -qq -y ccache \
                                      ninja-build \
                                      valgrind \
                                      openjdk-17-jdk \
                                      openjdk-17-jre

          sudo apt-get install -qq -y libace-dev \
                                      libsqlite3-dev \
                                      libtinyxml-dev \
                                      libedit-dev \
                                      qtbase5-dev \
                                      qtdeclarative5-dev \
                                      qtmultimedia5-dev \
                                      libqt5opengl5-dev \
                                      libqcustomplot-dev \
                                      libopencv-dev \
                                      libeigen3-dev \
                                      libgraphviz-dev \
                                      libpng-dev \
                                      libv4l-dev \
                                      libavcodec-dev \
                                      libavdevice-dev \
                                      libavformat-dev \
                                      libavutil-dev \
                                      portaudio19-dev \
                                      libsdl1.2-dev \
                                      libopenni2-dev \
                                      libftdi-dev \
                                      libi2c-dev \
                                      libjpeg-dev \
                                      libpcl-dev

          sudo apt-get install -y     libgstreamer1.0-dev \
                                      libgstreamer-plugins-base1.0-dev

          # Install bindings dependencies
          sudo apt-get install -qq -y mono-mcs \
                                      liblua5.3-dev \
                                      lua5.3 \
                                      tcl-dev \
                                      tk-dev \
                                      python3-dev \
                                      liboctave-dev \
                                      ruby-dev \
                                      ruby \
                                      perl

          # Install SWIG
          # On Ubuntu 24.04 this corresponds to swig 4.2.0 which is affected by a bug: https://github.com/robotology/yarp/issues/3083
          # sudo apt-get install -qq -y swig 
          #
          # we thus install manually swig 4.2.1
          sudo apt-get purge -y swig
          wget -nv https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
          unzip -q swig_4_2_1_ubuntu_24_04.zip
          sudo mv swig_4_2_1_ubuntu_24_04_install/bin/* /usr/bin
          sudo mv swig_4_2_1_ubuntu_24_04_install/share/swig /usr/share

          # Other tools useful in github actions
          sudo apt-get install -qq -y jq \
                                      wget \
                                      curl \
                                      lcov \
                                      gcovr \
                                      wget \
                                      curl \
                                      xsltproc \
                                      libxml2-utils \
                                      source-highlight

          # Remove old packages from apt cache
          sudo apt-get autoclean -qq

    - name: Prepare environment
      env:
        CODACY_TOKEN: ${{ secrets.CODACY_TOKEN }}
        CLANG_VERSION: 17
        CODACY_CLANG_TIDY_VERSION: 1.3.8
      run: |
        echo "CLANG_VERSION=${CLANG_VERSION}" >> $GITHUB_ENV
        echo "CC=/usr/bin/clang-${CLANG_VERSION}" >> $GITHUB_ENV
        echo "CXX=/usr/bin/clang++-${CLANG_VERSION}" >> $GITHUB_ENV
        echo "CFLAGS=-fcolor-diagnostics" >> $GITHUB_ENV
        echo "CXXFLAGS=-fcolor-diagnostics" >> $GITHUB_ENV
        echo "CLANG_TIDY=/usr/bin/clang-tidy-${CLANG_VERSION}" >> $GITHUB_ENV
        echo "RUN_CLANG_TIDY=/usr/bin/run-clang-tidy-${CLANG_VERSION}" >> $GITHUB_ENV
        echo "COLORCLI=1" >> $GITHUB_ENV
        echo "CLICOLOR=1" >> $GITHUB_ENV
        echo "CLICOLOR_FORCE=1" >> $GITHUB_ENV
        echo "YARP_COLORED_OUTPUT=1" >> $GITHUB_ENV
        echo "PROJECT_TOKEN=${CODACY_TOKEN}" >> $GITHUB_ENV
        echo "COMMIT=${{ needs.select_environment.outputs.sha }}" >> $GITHUB_ENV
        echo "CODACY_URL=https://api.codacy.com" >> $GITHUB_ENV
        echo "CODACY_CLANG_TIDY_VERSION=${CODACY_CLANG_TIDY_VERSION}" >> $GITHUB_ENV

    - name: Download codacy-clang-tidy
      if: runner.os == 'Linux'
      shell: bash
      run: |
          #Install clang 17. `all` option is required for clang-tidy
          sudo apt-get purge -y llvm* clang*
          wget -nv https://apt.llvm.org/llvm.sh
          sudo chmod +x llvm.sh
          sudo ./llvm.sh 17 all

          # Download codacy-clang-tidy
          sudo wget https://github.com/codacy/codacy-clang-tidy/releases/download/${CODACY_CLANG_TIDY_VERSION}/codacy-clang-tidy-linux-${CODACY_CLANG_TIDY_VERSION} -O /usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION}
          sudo chmod -v +x /usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION}

    - name: Run CMake
      run: |
        /usr/bin/cmake -S. -Bbuild \
          -C .ci/initial-cache.gh.linux.cmake \
          -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \
          -DYARP_NO_DEPRECATED:BOOL=ON \
          -DYARP_COMPILE_BINDINGS:BOOL=OFF

    - name: Link compile_commands.json in the source directory
      run: |
        ln -s build/compile_commands.json .

    - name: Run make (required for files generated at build time)
      run: |
        (cd build && make)

    - name: List clang-tidy checks
      run: |
        # Fix .clang-tidy for clang 10 (see https://reviews.llvm.org/D75621)
        sed -i 's/;h;hh;hpp;hxx/,h,hh,hpp,hxx/g' .clang-tidy

        # Print the .clang-tidy file
        cat .clang-tidy
        echo

        # List checks
        ${CLANG_TIDY} -list-checks

    - name: Run clang-tidy
      run: |
        ${RUN_CLANG_TIDY} | sed "s|${PWD}/||g" | tee /tmp/out1

    - name: Convert the clang-tidy output to a format that the Codacy API accepts
      run: |
        cat /tmp/out1 | \
        /usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION} | tee /tmp/out2

    - name: Send the results to Codacy
      run: |
        set -x
        cat /tmp/out2 | \
        curl --silent --show-error --fail \
            -XPOST -L -H "project-token: ${PROJECT_TOKEN}" \
            -H "Content-type: application/json" -d @- \
            "${CODACY_URL}/2.0/commit/${COMMIT}/issuesRemoteResults"
        echo

    - name: Signal that Codacy can use the sent results and start a new analysis
      run: |
        set -x
        curl --silent --show-error --fail \
          -XPOST -L -H "project-token: ${PROJECT_TOKEN}" \
          -H "Content-type: application/json" \
          "${CODACY_URL}/2.0/commit/${COMMIT}/resultsFinal"
        echo


  codacy-coverage:
    environment: code-analysis
    name: 'Codacy - coverage'
    needs: [select_environment, run-cmake]
    runs-on: ubuntu-22.04
    steps:
    - name: Clone repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}

    # This step is copied from the build step, please keep them in sync until we
    # find a better way to do it automatically
    - name: Dependencies [Linux]
      if: runner.os == 'Linux'
      shell: bash
      run: |
          # Install dep for gstreamer. It must be the first one.
          sudo apt-get update
          sudo apt-get install -y      libunwind-dev

          # Install Robotology dependencies from robotology ppa
          sudo apt-add-repository -y ppa:robotology/ppa
          sudo apt-get install -qq -y librobottestingframework-dev

          # Install cmake
          sudo apt-get install -qq -y cmake
          which cmake
          cmake --version
          /usr/bin/cmake --version

          # Install ycm
          wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
          sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

          # Install build tools
          sudo apt-get install -qq -y ccache \
                                      ninja-build \
                                      valgrind \
                                      openjdk-17-jdk \
                                      openjdk-17-jre

          sudo apt-get install -qq -y libace-dev \
                                      libsqlite3-dev \
                                      libtinyxml-dev \
                                      libedit-dev \
                                      qtbase5-dev \
                                      qtdeclarative5-dev \
                                      qtmultimedia5-dev \
                                      libqt5opengl5-dev \
                                      libqcustomplot-dev \
                                      libopencv-dev \
                                      libeigen3-dev \
                                      libgraphviz-dev \
                                      libgstreamer1.0-dev \
                                      libgstreamer-plugins-base1.0-dev \
                                      libpng-dev \
                                      libv4l-dev \
                                      libavcodec-dev \
                                      libavdevice-dev \
                                      libavformat-dev \
                                      libavutil-dev \
                                      portaudio19-dev \
                                      libsdl1.2-dev \
                                      libopenni2-dev \
                                      libftdi-dev \
                                      libi2c-dev \
                                      libjpeg-dev \
                                      libpcl-dev

          # Install bindings dependencies
          sudo apt-get install -qq -y mono-mcs \
                                      liblua5.3-dev \
                                      lua5.3 \
                                      tcl-dev \
                                      tk-dev \
                                      python3-dev \
                                      liboctave-dev \
                                      ruby-dev \
                                      ruby \
                                      perl

          # Install SWIG
          # On Ubuntu 24.04 this corresponds to swig 4.2.0 which is affected by a bug: https://github.com/robotology/yarp/issues/3083
          # sudo apt-get install -qq -y swig 
          #
          # we thus install manually swig 4.2.1
          sudo apt-get purge -y swig
          wget -nv https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
          unzip -q swig_4_2_1_ubuntu_24_04.zip
          sudo mv swig_4_2_1_ubuntu_24_04_install/bin/* /usr/bin
          sudo mv swig_4_2_1_ubuntu_24_04_install/share/swig /usr/share

          # Other tools useful in github actions
          sudo apt-get install -qq -y jq \
                                      wget \
                                      curl \
                                      lcov \
                                      gcovr \
                                      xsltproc \
                                      libxml2-utils \
                                      source-highlight

          # Remove old packages from apt cache
          sudo apt-get autoclean -qq

    - name: Build
      run: |
        export CLICOLOR_FORCE=1
        export YARP_COLORED_OUTPUT=1

        /usr/bin/cmake -S. -Bbuild \
          -C .ci/initial-cache.gh.linux.cmake \
          -DCMAKE_C_FLAGS=-fdiagnostics-color=always \
          -DCMAKE_CXX_FLAGS=-fdiagnostics-color=always \
          -DCMAKE_BUILD_TYPE=Profile \
          "-DCMAKE_C_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
          "-DCMAKE_CXX_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
          -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \
          -DYARP_NO_DEPRECATED:BOOL=ON

        (cd build && lcov --directory . --zerocounters)

        (cd build && make && make CTEST_OUTPUT_ON_FAILURE=1 test)

        # Capture coverage info for Profile builds
        (cd build; lcov --directory . --capture --rc lcov_branch_coverage=1 --output-file coverage.info)

        # Filter out system and test code
        (cd build; lcov --remove coverage.info '/usr/*' 'tests/*' 'example/*' 'extern/*' 'build/*'--rc lcov_branch_coverage=1 --output-file coverage.info)

        # Debug before upload
        (cd build; lcov --list coverage.info)

    - name: Run codacy-coverage-reporter
      uses: codacy/codacy-coverage-reporter-action@master
      with:
        project-token: ${{ secrets.CODACY_TOKEN }}
        coverage-reports: build/coverage.info


  sonarcloud:
    environment: code-analysis
    name: 'SonarCloud'
    needs: [select_environment, run-cmake]
    runs-on: ubuntu-22.04
    steps:
    - name: Clone repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}
        fetch-depth: 0  # Shallow clones should be disabled for a better relevancy of analysis

    - name: Get Sonar and Prepare Environment
      id: get_sonar
      env:
        SONAR_ORGANIZATION: ${{ needs.select_environment.outputs.repository_owner }}
        SONAR_PROJECT_KEY: ${{ needs.select_environment.outputs.repository_owner }}_${{ needs.select_environment.outputs.repository_name }}
        SONAR_PROJECT_NAME: ${{ needs.select_environment.outputs.repository_name }}
        SONAR_PROJECT_DESCRIPTION: 'Yet Another Robot Platform'
        SONAR_PROJECT_VERSION: ${{ needs.select_environment.outputs.yarp_version }}
        SONAR_LINKS_HOMEPAGE: 'https://www.yarp.it/'
        SONAR_SOURCES: 'src'
        SONAR_TESTS: 'tests'
        SONAR_CFAMILY_GCOV_REPORTSPATH: 'build/coverage.info'
        SONAR_CFAMILY_CACHE_ENABLED: true
        SONAR_SCANNER_VERSION: '5.0.1.3006'
        SONAR_THREADS: 2
      run: |
        # Internal variables
        SONAR_HOME_PATH=.sonar
        SONAR_CACHE_PATH=${SONAR_HOME_PATH}/cache
        SONAR_HOME=${HOME}/${SONAR_HOME_PATH}

        # project name from SonarCloud projet creation page -Dsonar.projectKey=XXXX
        echo "SONAR_PROJECT_KEY=${SONAR_PROJECT_KEY}" >> $GITHUB_ENV

        # project name from SonarCloud projet creation page -Dsonar.projectKey=XXXX
        echo "SONAR_PROJECT_NAME=${SONAR_PROJECT_NAME}" >> $GITHUB_ENV

        # project name from SonarCloud projet creation page -Dsonar.projectName=XXXX
        echo "SONAR_ORGANIZATION=${SONAR_ORGANIZATION}" >> $GITHUB_ENV

        # project version
        [[ ! -z "${SONAR_PROJECT_VERSION}" ]] && echo "SONAR_PROJECT_VERSION=${SONAR_PROJECT_VERSION}" >> $GITHUB_ENV

        # Links
        echo "SONAR_LINKS_HOMEPAGE=${SONAR_LINKS_HOMEPAGE:-https://github.com/${GITHUB_REPOSITORY}/}" >> $GITHUB_ENV
        echo "SONAR_LINKS_CI=${SONAR_LINKS_CI:-https://github.com/${GITHUB_REPOSITORY}/actions/}" >> $GITHUB_ENV
        echo "SONAR_LINKS_ISSUE=${SONAR_LINKS_ISSUE:-https://github.com/${GITHUB_REPOSITORY}/issues/}" >> $GITHUB_ENV
        echo "SONAR_LINKS_SCM=${SONAR_LINKS_SCM:-https://github.com/${GITHUB_REPOSITORY}/}" >> $GITHUB_ENV

        # Set default to SONAR_HOST_URL in not provided
        echo "SONAR_HOST_URL=${SONAR_HOST_URL:-https://sonarcloud.io}" >> $GITHUB_ENV

        echo "SONAR_SCANNER_VERSION=${SONAR_SCANNER_VERSION}" >> $GITHUB_ENV

        SONAR_SCANNER_HOME=${SONAR_HOME}/sonar-scanner-${SONAR_SCANNER_VERSION}-linux
        echo "SONAR_SCANNER_HOME=${SONAR_SCANNER_HOME}" >> $GITHUB_ENV

        echo "SONAR_SCANNER_OPTS=${SONAR_SCANNER_OPTS:--server}" >> $GITHUB_ENV
        echo "SONAR_SOURCES=${SONAR_SOURCES:-src}" >> $GITHUB_ENV
        [[ -v SONAR_TESTS ]] && echo "SONAR_TESTS=${SONAR_TESTS}" >> $GITHUB_ENV

        echo "SONAR_SOURCEENCODING=${SONAR_SOURCEENCODING:-UTF-8}" >> $GITHUB_ENV
        echo "SONAR_THREADS=${SONAR_THREADS:-1}" >> $GITHUB_ENV

        echo "SONAR_CFAMILY_CACHE_ENABLED=$([[ $SONAR_CFAMILY_CACHE_ENABLED = true ]] && echo true || echo false)" >> $GITHUB_ENV
        [[ $SONAR_CFAMILY_CACHE_ENABLED = true ]] && echo "SONAR_CFAMILY_CACHE_PATH=${SONAR_CACHE_PATH}" >> $GITHUB_ENV

        echo "PATH=${SONAR_HOME}/build-wrapper-linux-x86:${SONAR_SCANNER_HOME}/bin:${PATH}" >> $GITHUB_ENV

        mkdir -p ${SONAR_HOME}
        mkdir -p ${SONAR_CACHE_PATH}

        cat $GITHUB_ENV

        # Download sonar-scanner
        curl -sSLo ${SONAR_HOME}/sonar-scanner.zip https://binaries${SONAR_HOME_PATH}source.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$SONAR_SCANNER_VERSION-linux.zip
        unzip -o ${SONAR_HOME}/sonar-scanner.zip -d ${SONAR_HOME}/

        # Download build-wrapper
        curl -sSLo ${SONAR_HOME}/build-wrapper-linux-x86.zip https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
        unzip -o ${SONAR_HOME}/build-wrapper-linux-x86.zip -d ${SONAR_HOME}/

        echo "sonar_path=${SONAR_HOME_PATH}" >> $GITHUB_OUTPUT
        echo "sonar_cache_path=${SONAR_CACHE_PATH}" >> $GITHUB_OUTPUT

    # This step is copied from the build step, please keep them in sync until we
    # find a better way to do it automatically
    - name: Dependencies [Linux]
      if: runner.os == 'Linux'
      shell: bash
      run: |
          # Install dep for gstreamer. It must be the first one.
          sudo apt-get update
          sudo apt-get install -y      libunwind-dev

          # Install Robotology dependencies from robotology ppa
          sudo apt-add-repository -y ppa:robotology/ppa
          sudo apt-get install -qq -y librobottestingframework-dev

          # Install cmake
          sudo apt-get install -qq -y cmake
          which cmake
          cmake --version
          /usr/bin/cmake --version

          # Install ycm
          wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
          sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

          # Install build tools
          sudo apt-get install -qq -y ccache \
                                      ninja-build \
                                      valgrind \
                                      openjdk-17-jdk \
                                      openjdk-17-jre

          sudo apt-get install -qq -y libace-dev \
                                      libsqlite3-dev \
                                      libtinyxml-dev \
                                      libedit-dev \
                                      qtbase5-dev \
                                      qtdeclarative5-dev \
                                      qtmultimedia5-dev \
                                      libqt5opengl5-dev \
                                      libqcustomplot-dev \
                                      libopencv-dev \
                                      libeigen3-dev \
                                      libgraphviz-dev \
                                      libgstreamer1.0-dev \
                                      libgstreamer-plugins-base1.0-dev \
                                      libpng-dev \
                                      libv4l-dev \
                                      libavcodec-dev \
                                      libavdevice-dev \
                                      libavformat-dev \
                                      libavutil-dev \
                                      portaudio19-dev \
                                      libsdl1.2-dev \
                                      libopenni2-dev \
                                      libftdi-dev \
                                      libi2c-dev \
                                      libjpeg-dev \
                                      libpcl-dev

          # Install bindings dependencies
          sudo apt-get install -qq -y mono-mcs \
                                      liblua5.3-dev \
                                      lua5.3 \
                                      tcl-dev \
                                      tk-dev \
                                      python3-dev \
                                      liboctave-dev \
                                      ruby-dev \
                                      ruby \
                                      perl

          # Install SWIG
          # On Ubuntu 24.04 this corresponds to swig 4.2.0 which is affected by a bug: https://github.com/robotology/yarp/issues/3083
          # sudo apt-get install -qq -y swig 
          #
          # we thus install manually swig 4.2.1
          sudo apt-get purge -y swig
          wget -nv https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
          unzip -q swig_4_2_1_ubuntu_24_04.zip
          sudo mv swig_4_2_1_ubuntu_24_04_install/bin/* /usr/bin
          sudo mv swig_4_2_1_ubuntu_24_04_install/share/swig /usr/share

          # Other tools useful in github actions
          sudo apt-get install -qq -y jq \
                                      wget \
                                      curl \
                                      lcov \
                                      gcovr \
                                      wget \
                                      curl \
                                      xsltproc \
                                      libxml2-utils \
                                      source-highlight

          # Remove old packages from apt cache
          sudo apt-get autoclean -qq

    - name: Prepare ccache environment variables
      id: init_ccache
      run: |
        CCACHE_HOME_PATH=.ccache
        CCACHE_BASEDIR=$GITHUB_WORKSPACE

        echo "CCACHE_BASEDIR=${CCACHE_BASEDIR}" >> $GITHUB_ENV
        echo "CCACHE_HOME_PATH=.ccache" >> $GITHUB_ENV
        echo "CCACHE_DIR=${CCACHE_BASEDIR}/${CCACHE_HOME_PATH}" >> $GITHUB_ENV
        echo "CCACHE_COMPRESS=true" >> $GITHUB_ENV
        echo "CCACHE_COMPRESSLEVEL=6" >> $GITHUB_ENV
        echo "CCACHE_MAXSIZE=400M" >> $GITHUB_ENV
        echo "CCACHE_CPP2=yes" >> $GITHUB_ENV
        echo "PATH=/usr/lib/ccache::${PATH}" >> $GITHUB_ENV

        cat $GITHUB_ENV

        echo "ccache_path=${CCACHE_HOME_PATH}" >> $GITHUB_OUTPUT

    - name: Print info and reset stats before build
      run: |
        set -x

        which ccache
        ccache --version
        ccache -p


        ls -la --color=always /usr/lib/ccache

        # Reset ccache stats before starting
        ccache -z

        gcov --version
        gcovr --version

    - name: Handle cache
      uses: actions/cache@v3
      with:
        path: |
          ${{ steps.init_ccache.outputs.ccache_path }}
          ${{ steps.get_sonar.outputs.sonar_cache_path }}
        key: sonar-cache-${{ needs.select_environment.outputs.timestamp }}
        restore-keys: |
          sonar-cache-

    - name: Run CMake
      run: |
        export CLICOLOR_FORCE=1
        export YARP_COLORED_OUTPUT=1

        /usr/bin/cmake -S. -Bbuild \
          -C .ci/initial-cache.gh.linux.cmake \
          -DCMAKE_C_FLAGS=-fdiagnostics-color=always \
          -DCMAKE_CXX_FLAGS=-fdiagnostics-color=always \
          -DCMAKE_BUILD_TYPE=Profile \
          "-DCMAKE_C_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
          "-DCMAKE_CXX_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
          -DCMAKE_EXE_LINKER_FLAGS_PROFILE=-lgcov \
          -DCMAKE_MODULE_LINKER_FLAGS_PROFILE=-lgcov \
          -DCMAKE_SHARED_LINKER_FLAGS_PROFILE=-lgcov \
          -DCMAKE_STATIC_LINKER_FLAGS_PROFILE= \
          -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \
          -DYARP_NO_DEPRECATED:BOOL=ON \
          -DYARP_COMPILE_BINDINGS:BOOL=OFF

    - name: Link compile_commands.json in the source directory
      run: |
        ln -s build/compile_commands.json .

    - name: Build inside the build-wrapper
      run: |
        build-wrapper-linux-x86-64 --out-dir build_wrapper_output_directory cmake --build build --config Profile

    - name: Run tests
      run: |
        # Download CTest2JUnit.xsl
        wget https://raw.githubusercontent.com/zanata/zanata-tests/master/scripts/CTest2JUnit.xsl -O CTest2JUnit.xsl

        # -T Test produces the xml output with the results
        (cd build && ctest -T test --rerun-failed --output-on-failure --verbose)
        xsltproc CTest2JUnit.xsl build/Testing/$(head -n 1 < build/Testing/TAG)/Test.xml > build/JUnitTestResults.xml

    - name: Print tests results file
      run: |
        xmllint --format build/JUnitTestResults.xml | source-highlight -s xml --out-format=esc -o STDOUT

    - name: Print ccache stats after build
      run: |
        set -x

        # Print ccache stats
        ccache -s

    - name: Capture coverage info
      run: |
        (cd build && \
        gcovr --exclude="../extern/*" --sonarqube --branches --output coverage.xml --root .. .)

    - name: Print coverage info file
      run: |
        xmllint --format build/coverage.xml | source-highlight -s xml --out-format=esc -o STDOUT

    - name: Run sonar scanner
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
      run: |

        # Run sonar scanner (here, arguments are passed through the command line but most of them can be written in the sonar-project.properties file)
        [[ -v SONAR_TOKEN ]] && SONAR_TOKEN_CMD_ARG="-Dsonar.login=${SONAR_TOKEN}"
        [[ -v SONAR_ORGANIZATION ]] && SONAR_ORGANIZATION_CMD_ARG="-Dsonar.organization=${SONAR_ORGANIZATION}"
        [[ -v SONAR_PROJECT_NAME ]] && SONAR_PROJECT_NAME_CMD_ARG="-Dsonar.projectName=${SONAR_PROJECT_NAME}"
        [[ -v SONAR_PROJECT_DESCRIPTION ]] && SONAR_PROJECT_DESCRIPTION_CMD_ARG="-Dsonar.projectDescription=${SONAR_PROJECT_DESCRIPTION}"
        [[ -v SONAR_PROJECT_VERSION ]] && SONAR_PROJECT_VERSION_CMD_ARG="-Dsonar.projectVersion=${SONAR_PROJECT_VERSION}"

        if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
          SONAR_PR_CMD_ARGS="\
            -Dsonar.pullrequest.provider=github \
            -Dsonar.pullrequest.github.repository=${SONAR_ORGANIZATION}/${SONAR_PROJECT_NAME} \
            -Dsonar.pullrequest.branch=${{ needs.select_environment.outputs.head_ref }} \
            -Dsonar.pullrequest.key=${{ needs.select_environment.outputs.pr_number }} \
            -Dsonar.pullrequest.base=${{ needs.select_environment.outputs.base_ref }} \
            -Dsonar.pullrequest.github.endpoint=https://api.github.com"
        fi

        # Paths to test files
        [[ -v SONAR_TESTS ]] && SONAR_TESTS_CMD_ARG="-Dsonar.tests=${SONAR_TESTS}"

        # Path to cache
        [[ -v SONAR_CFAMILY_CACHE_PATH ]] && SONAR_CFAMILY_CACHE_PATH_CMD_ARG="-Dsonar.cfamily.cache.path=${SONAR_CFAMILY_CACHE_PATH}"

        set -x

        sonar-scanner \
            -Dsonar.host.url="${SONAR_HOST_URL}" \
            -Dsonar.projectKey=${SONAR_PROJECT_KEY} \
            -Dsonar.language=c++ \
            -Dsonar.sources=${SONAR_SOURCES} \
            -Dsonar.links.homepage=${SONAR_LINKS_HOMEPAGE} \
            -Dsonar.links.ci=${SONAR_LINKS_CI} \
            -Dsonar.links.issue=${SONAR_LINKS_ISSUE} \
            -Dsonar.links.scm=${SONAR_LINKS_SCM} \
            -Dsonar.cfamily.build-wrapper-output=build_wrapper_output_directory \
            -Dsonar.sourceEncoding=${SONAR_SOURCEENCODING} \
            -Dsonar.cfamily.threads=${SONAR_THREADS} \
            -Dsonar.cfamily.cache.enabled=${SONAR_CFAMILY_CACHE_ENABLED} \
            -Dsonar.coverageReportPaths=build/coverage.xml \
            -Dsonar.junit.reportPaths=build/JUnitTestResults.xml \
            -Dsonar.exclusions="src/yarp*/**/* src/carriers/**/* src/devices/**/* src/idls/**/* src/libyarp*/**/* src/robottestingframework-plugins/**/* tests/**/*" \
            -Dsonar.coverage.exclusions="\
                 src/libYARP_dev/src/yarp/dev/tests/*,\
                 src/devices/*/tests/*,\
                 src/carriers/*/tests/*,\
                 src/portmonitors/*/tests/*,\
                 tests/**/*,\
                 src/yarp*/**/*,\
                 robottestingframework-plugins/**/*\
                 " \
            -Dsonar.branch.longLivedBranches.regex="^(master|yarp-.+)$" \
            ${SONAR_TESTS_CMD_ARG} \
            ${SONAR_PROJECT_NAME_CMD_ARG} \
            ${SONAR_PROJECT_DESCRIPTION_CMD_ARG} \
            ${SONAR_PROJECT_VERSION_CMD_ARG} \
            ${SONAR_PR_CMD_ARGS} \
            ${SONAR_TOKEN_CMD_ARG} \
            ${SONAR_ORGANIZATION_CMD_ARG} \
            ${SONAR_CFAMILY_CACHE_PATH_CMD_ARG}