ci.yml

name: Continuous Integration

on:
  push:
    branches:
    - 'master'
    - 'feat/**'
    - 'fix/**'
  pull_request:
  schedule:
  # * is a special character in YAML so you have to quote this string
  # Execute a "nightly" build at 2 AM UTC
  - cron:  '0 2 * * *'

jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Release, Debug]
        os: [ubuntu-latest]
        yarp: [true, false]

    steps:
    - uses: actions/checkout@master

    - name: Display environment variables
      shell: bash
      run: env

    # Remove apt repos that are known to break from time to time
    # See https://github.com/actions/virtual-environments/issues/323
    - name: Remove broken apt repos [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    # ============
    # DEPENDENCIES
    # ============

    - name: Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        sudo apt update
        sudo apt install libboost-all-dev git build-essential clang valgrind cmake \
        libmatio-dev libtinyxml-dev \
        libace-dev libeigen3-dev

    - name: Source-based Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        # YCM
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/ycm.git --depth 1 --branch master
        cd ycm && mkdir -p build && cd build
        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
        cmake --build . --config ${{ matrix.build_type }} --target install
        if ${{matrix.yarp}}; then
          # yarp
          cd ${GITHUB_WORKSPACE}
          git clone https://github.com/robotology/yarp.git --depth 1 --branch yarp-3.6
          cd yarp && mkdir -p build && cd build
          cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
          -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
          cmake --build . --config ${{ matrix.build_type }} --target install
        fi
        # matio-cpp
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/ami-iit/matio-cpp.git --depth 1 --branch master
        cd matio-cpp && mkdir -p build && cd build
        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
        cmake --build . --config ${{ matrix.build_type }} --target install

    # ===================
    # CMAKE-BASED PROJECT
    # ===================

    - name: Configure [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON ..

    - name: Enable Valgrind tests [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DROBOMETRY_VALGRIND_TESTS:BOOL=ON ..

    - name: Build
      shell: bash
      run: |
        cd build
        # Fix for using YARP idl generators (that link ACE) in Windows
        # See https://github.com/robotology/idyntree/issues/569 for more details
        export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin
        cmake --build . --config ${{ matrix.build_type }}

    - name: Install
      shell: bash
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }} --target install

    - name: Test
      shell: bash
      run: |
        cd build
        export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${GITHUB_WORKSPACE}/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
        ctest --output-on-failure -C ${{ matrix.build_type }} .
    - name: Test load of tdd plugin [Ubuntu]
      if: matrix.os == 'ubuntu-latest' && matrix.yarp
      shell: bash
      run: |
        export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${GITHUB_WORKSPACE}/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
        export YARP_DATA_DIRS=$YARP_DATA_DIRS:${GITHUB_WORKSPACE}/install/share/yarp
        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${GITHUB_WORKSPACE}/install/lib
        yarp plugin telemetryDeviceDumper
    - name: Run examples with valgrind [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        cd build/bin
        valgrind --tool=memcheck --leak-check=full ./circular_buffer_example
        valgrind --tool=memcheck --leak-check=full ./robometry_buffer_example
        valgrind --tool=memcheck --leak-check=full ./robometry_buffer_manager_conf_file_example
        valgrind --tool=memcheck --leak-check=full ./robometry_buffer_manager_example
        valgrind --tool=memcheck --leak-check=full ./robometry_buffer_periodic_save