ci.yml

name: CI Workflow

on:
  workflow_dispatch:
  push:
    branches:
      - master
      - 'releases/**'
    tags:
      - v*
  pull_request:
  release:
    types: [published]
  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:
  conda-build:    
    name: '[conda:Tags:${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        build_type: [Release]
        os: [ubuntu-latest, macos-12, macos-14, windows-2019, windows-2022]
        project_tags:
          - Default
          - Unstable
        include:
          - project_tags: Default
            project_tags_cmake_options: ""
          - project_tags: Unstable
            project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable"

    steps:
    - uses: actions/checkout@v4

    - uses: conda-incubator/setup-miniconda@v3
      if: matrix.os != 'macos-14'
      with:
        miniforge-variant: Mambaforge
        miniforge-version: latest

    - uses: conda-incubator/setup-miniconda@v3
      if: matrix.os == 'macos-14'
      with:
        installer-url: https://github.com/conda-forge/miniforge/releases/download/23.11.0-0/Mambaforge-23.11.0-0-MacOSX-arm64.sh

    - name: Install files to enable compilation of mex files [Conda/Linux]
      if: contains(matrix.os, 'ubuntu') 
      run: |
        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
        unzip msdk_R2020b_mexa64.zip
        rm msdk_R2020b_mexa64.zip
        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
        echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV
                
    - name: Install files to enable compilation of mex files [Conda/macOS Intel]
      if: matrix.os == 'macos-12'
      run: |
        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip
        unzip msdk_R2020a_mexmaci64.zip
        rm msdk_R2020a_mexmaci64.zip
        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV
        echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV

    - name: Install files to enable compilation of mex files [Conda/macOS Apple Silicon]
      if: matrix.os == 'macos-14'
      run: |
        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2023b_mexmaca64.zip
        unzip msdk_R2023b_mexmaca64.zip
        rm msdk_R2023b_mexmaca64.zip
        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2023b_mexmaca64" >> $GITHUB_ENV
        echo "GHA_Matlab_MEX_EXTENSION=mexmaca64" >> $GITHUB_ENV

    - name: Install files to enable compilation of mex files [Conda/Windows]
      if: contains(matrix.os, 'windows') 
      shell: bash
      run: |
        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip
        unzip msdk_R2020a_mexw64.zip
        rm msdk_R2020a_mexw64.zip
        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV
        echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV

    - name: Install ace (on all platforms excluding macOS M1) [Conda]
      if: matrix.os != 'macos-14'
      shell: bash -l {0}
      run: |
        # Dependencies
        mamba install ace

    - name: Dependencies [Conda]
      shell: bash -l {0}
      run: |
        # Dependencies
        mamba install asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
        # Python 
        mamba install python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad pyqtwebengine qtpy pyyaml

    # Additional dependencies useful only on Linux
    - name: Dependencies [Conda/Linux]
      if: contains(matrix.os, 'ubuntu') 
      shell: bash -l {0}
      run: |
        # Additional dependencies only useful on Linux
        # See https://github.com/robotology/robotology-superbuild/issues/477
        mamba install bash-completion expat freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64 

    # Additional dependencies useful only on Windows
    - name: Dependencies [Conda/Windows]
      if: contains(matrix.os, 'windows') 
      shell: bash -l {0}
      run: |
        # Additional dependencies only useful on Windows
        mamba install -c conda-forge -c robotology esdcan freeglut

    - name: Print used environment [Conda]
      shell: bash -l {0}
      run: |
        mamba list
        env

    - name: Set CMake generator [Conda/Linux and macOs]
      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
      shell: bash -l {0}
      run: |
        echo "GHA_CMAKE_GENERATOR=Ninja" >> $GITHUB_ENV

    - name: Set CMake generator [Conda/Windows 2022]
      if: contains(matrix.os, 'windows-2022')
      shell: bash -l {0}
      run: |
        echo "GHA_CMAKE_GENERATOR=Visual Studio 17 2022" >> $GITHUB_ENV

    - name: Set CMake generator [Conda/Windows 2019]
      if: contains(matrix.os, 'windows-2019')
      shell: bash -l {0}
      run: |
        echo "GHA_CMAKE_GENERATOR=Visual Studio 16 2019" >> $GITHUB_ENV

    - name: Configure [Conda]
      shell: bash -l {0}
      run: |
        set
        mkdir -p b
        cd b
        cmake -G"${GHA_CMAKE_GENERATOR}" -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
        # Disable options not tested on Conda for now
        cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF .

    - name: Disable options not suppored on Visual Studio 2019 [Conda/Windows 2019]
      if: contains(matrix.os, 'windows-2019')
      shell: bash -l {0}
      run: |
        cd b
        cmake -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF .

    # For some reason, the Strawberry perl's pkg-config is found
    # instead of the conda's one, so let's delete the /c/Strawberry directory
    - name: Debug pkg-config problem
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        rm -rf /c/Strawberry
        
    - name: Build  [Conda]
      shell: bash -l {0}
      run: |
        # Using b instead of build as a temporary workaround to https://github.com/robotology/robotology-superbuild/issues/1542#issuecomment-1827682957
        # Go back to build once https://github.com/robotology/yarp/pull/3057 is merged and released
        cd b
        cmake --build . --config ${{ matrix.build_type }}

    # Skip on Apple Silicon https://github.com/robotology/robotology-superbuild/issues/1625
    - name: Check python metadata of installed python packages are coherent [Conda]
      if: matrix.os != 'macos-14'
      shell: bash -l {0}
      run: |
        source ./b/install/share/robotology-superbuild/setup.sh
        pip check

  docker-build:
    name: '[docker:Tags:${{ matrix.project_tags }}@${{ matrix.docker_image }}@${{ matrix.build_type }}]'
    runs-on: ubuntu-20.04
    strategy:
      fail-fast: false
      matrix:
        build_type: [Debug]
        cmake_generator:
          - "Ninja"
        docker_image:
          - "ubuntu:focal"
          - "ubuntu:jammy"
          - "ubuntu:24.04"
          - "debian:bullseye"

        project_tags:
          - Default
          - Unstable
        include:
          - project_tags: Default
            project_tags_cmake_options: ""
          - project_tags: Unstable
            project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable"

    container:
      image: ${{ matrix.docker_image }}
      volumes:
        - /usr/local:/host_usr_local

    steps:
    - uses: actions/checkout@v3.6.0

    - name: Free disk space in host machine
      run: |
        rm -rf /host_usr_local/graalvm/
        rm -rf /host_usr_local/.ghcup/
        rm -rf /host_usr_local/share/powershell
        rm -rf /host_usr_local/share/chromium
        rm -rf /host_usr_local/lib/android
        rm -rf /host_usr_local/lib/node_modules

    - name: Upgrade apt packages Debian Testing [Debian Testing]
      if: matrix.docker_image == 'debian:testing'
      run: |
        # The Debian testing docker image is generated only
        # once a month, so to actually test with the latest
        # packages we need to manually upgrade the packages
        apt-get -y upgrade

    - name: Dependencies [Docker]
      run: |
        chmod +x ./.ci/install_debian.sh
        bash ./.ci/install_debian.sh



    - name: Configure [Docker]
      run: |
        mkdir -p build
        cd build
        cmake -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake  -G"${{ matrix.cmake_generator }}" -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..

    - name: Disable profiles that are not supported in docker for now [Docker debian-testing and debian-buster]
      if: (matrix.docker_image == 'debian:testing' || matrix.docker_image == 'debian:buster-backports')
      run: |
       cd build
       cmake -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF .

    - name: Disable MuJoCo for other distros released before 2022 [Docker ubuntu:focal and debian:bullseye]
      if: (matrix.docker_image == 'ubuntu:focal' || matrix.docker_image == 'debian:bullseye')
      run: |
       cd build
       cmake  -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF .

    - name: Disable Gazebo Classic support for distro without Gazebo Classic binaries [Docker ubuntu:24.04]
      if: (matrix.docker_image == 'ubuntu:24.04')
      run: |
       cd build
       cmake  -DROBOTOLOGY_USES_GAZEBO:BOOL=OFF .

    - name: Build  [Docker]
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

  normal-build:
    name: '[Tags:${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        build_type: [Release]
        os: [ubuntu-20.04, windows-2019]
        project_tags: [Default, Unstable, LatestReleases]
        include:
          - os: ubuntu-20.04
            build_type: Release
            cmake_generator: "Ninja"
          - os: macos-latest
            build_type: Release
            cmake_generator: "Ninja"
          - project_tags: Default
            project_tags_cmake_options: ""
          - project_tags: Unstable
            project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable"
          - project_tags: LatestReleases
            project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Custom -DROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE=${GITHUB_WORKSPACE}/releases/latest.releases.yaml"
    steps:
    - uses: actions/checkout@master
    
    - name: Install files to enable compilation of mex files [Linux]
      if: contains(matrix.os, 'ubuntu') 
      run: |
        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
        unzip msdk_R2020b_mexa64.zip
        rm msdk_R2020b_mexa64.zip
        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
        echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV

    - name: Move robotology-superbuild in C under Windows
      if: contains(matrix.os, 'windows')
      shell: bash
      run: |
        ls /d/
        cp -r ${GITHUB_WORKSPACE} /c/
        
    - name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR 
      if: contains(matrix.os, 'windows')
      shell: bash
      run: |
        echo "ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=/c/robotology-superbuild" >> $GITHUB_ENV

    - name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR 
      if: contains(matrix.os, 'ubuntu')
      shell: bash
      run: |
        echo "ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=${GITHUB_WORKSPACE}" >> $GITHUB_ENV

    - name: Check free space
      shell: bash
      run: |
        df -h

    # Print environment variables to simplify development and debugging
    - name: 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: contains(matrix.os, 'ubuntu')
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    # symlinks disabled are the default setting on Windows, but unfortunatly GitHub Actions enabled them
    # See:
    # * https://github.com/robotology/robotology-superbuild/issues/429
    # * https://github.com/actions/virtual-environments/pull/1186
    - name: Disable Git symlinks on Windows
      if: contains(matrix.os, 'windows')
      run: git config --global core.symlinks false

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

    # Waiting a github action that installs dependencies in a
    # multiplatform setup (likely using TS or JS), we install
    # packages with os-specific steps.

    - name: Dependencies [Ubuntu]
      if: contains(matrix.os, 'ubuntu')
      run: |
        cd $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR
        chmod +x ./.ci/install_debian.sh
        sudo bash ./.ci/install_debian.sh

    - name: Dependencies [Windows]
      if: contains(matrix.os, 'windows')
      run: |
        cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
        # To avoid spending a huge time compiling vcpkg dependencies, we download an archive  that comes precompiled with all the ports that we need 
        choco install -y wget unzip
        # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same directory
        # that has been used to create the pre-compiled archive
        cd C:/
        wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest/download/vcpkg-robotology-with-gazebo.zip
        unzip vcpkg-robotology-with-gazebo.zip -d C:/
        rm vcpkg-robotology-with-gazebo.zip

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

    - name: Configure [Ubuntu]
      if: contains(matrix.os, 'ubuntu')
      shell: bash
      run: |
        cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
        mkdir -p build
        cd build
        cmake -C ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/.ci/initial-cache.gh.cmake -G"${{ matrix.cmake_generator }}" -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DYCM_BOOTSTRAP_VERBOSE=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} ..

    - name: Configure [Windows]
      if: contains(matrix.os, 'windows')
      shell: bash
      run: |
        # Workaround for https://gitlab.kitware.com/cmake/cmake/-/merge_requests/7721
        mv C:/robotology/vcpkg/installed/x64-windows/tools/pkgconf/pkgconf.exe C:/robotology/vcpkg/installed/x64-windows/tools/pkgconf/pkgconfback.exe
        cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
        # Make sure that Gazebo packages can be found by CMake
        source /c/robotology/scripts/setup-deps.sh
        mkdir -p build
        cd build
        # ROBOTOLOGY_ENABLE_TELEOPERATION is OFF as it is unsupported on vcpkg
        cmake -C ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/.ci/initial-cache.gh.cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake -DROBOTOLOGY_USES_MATLAB:BOOL=OFF -DYCM_BOOTSTRAP_VERBOSE=ON -DYCM_EP_INSTALL_DIR=C:/robotology/robotology -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=Debug  ${{ matrix.project_tags_cmake_options }} ..
        cmake -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF .

    - name: Disable options unsupported on Ubuntu 20.04 and vcpkg
      if: contains(matrix.os, '20.04') || contains(matrix.os, 'windows')
      shell: bash
      run: |
        cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
        cd build
        cmake -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF .

    - name: Build  [Ubuntu]
      if:  contains(matrix.os, 'ubuntu')
      shell: bash
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

    # Just for  release jobs we also compile Windows in Release, to ensure that Release libraries are included in the installer
    - name: Build (Release) [Windows]
      if: github.event_name == 'release' && matrix.project_tags == 'Default' && contains(matrix.os, 'windows')
      shell: bash
      run: |
        cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
        cd build    
        # Make sure that vcpkg's ace .dll are on the PATH
        source /c/robotology/scripts/setup-deps.sh
        cmake --build . --config Release
        # Cleanup build directories to avoid to fill the disk
        rm -rf ./robotology

    - name: Build (Debug) [Windows]
      if: contains(matrix.os, 'windows')
      shell: bash
      run: |
        cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR} 
        cd build
        # Make sure that vcpkg's ace .dll are on the PATH
        source /c/robotology/scripts/setup-deps.sh
        cmake --build . --config Debug
        # Cleanup build directories to avoid to fill the disk
        rm -rf ./robotology

    # Just for release builds we generate the installer
    - name: Generate installer [Windows]
      if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019'
      shell: bash
      run: |
        # Download QtIFW
        cd /c
        certutil.exe -urlcache -split -f https://github.com/robotology-dependencies/qtifw-binaries/releases/download/v3.1.1/QtIFW-3.1.1.zip QtIFW-3.1.1.zip
        7z.exe x QtIFW-3.1.1.zip
        export PATH=$PATH:/c/QtIFW-3.1.1/bin
        # As we need a lot of space, we build the installer in the C:\ drive
        # that has more space of the D:\ drive in GitHub Actions
        mkdir /c/build-installer-full
        cd /c/build-installer-full
        cmake -A x64 -DRI_BUILD_FULL_INSTALLER:BOOL=ON ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/packaging/windows
        cmake --build . --config Release --target PACKAGE
        # Move installer in installer directory with a fixed name
        mv *.exe /c/robotology-full-installer-win64.exe
        # Cleanup and build dependencies installer
        cd /c
        rm -rf /c/build-installer-full
        mkdir /c/build-installer-dependencies
        cd /c/build-installer-dependencies
        cmake -A x64 -DRI_BUILD_FULL_INSTALLER:BOOL=OFF ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/packaging/windows
        cmake --build . --config Release --target PACKAGE
        # Move installer in installer directory with a fixed name
        mv *.exe /c/robotology-dependencies-installer-win64.exe

    - name: Upload Full Installer [Windows]
      if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019'
      uses: actions/upload-release-asset@v1.0.2
      env:
        GITHUB_TOKEN: ${{ secrets.ACCESS_TOKEN }}
      with:
          upload_url: ${{ github.event.release.upload_url }}
          asset_path: C:/robotology-full-installer-win64.exe
          asset_name: robotology-full-installer-win64.exe
          asset_content_type: application/octet-stream

    - name: Upload Dependencies installer  [Windows]
      if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019'
      uses: actions/upload-release-asset@v1.0.2
      env:
        GITHUB_TOKEN: ${{ secrets.ACCESS_TOKEN }}
      with:
          upload_url: ${{ github.event.release.upload_url }}
          asset_path: C:/robotology-dependencies-installer-win64.exe
          asset_name: robotology-dependencies-installer-win64.exe
          asset_content_type: application/octet-stream