MATLAB Tests Workflow #2365
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: MATLAB Tests Workflow | |
| on: | |
| push: | |
| 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-matlab-tests: | |
| name: '[matlab:${{ matrix.matlab_version }}:${{ matrix.os }}]' | |
| runs-on: ${{ matrix.os }} | |
| defaults: | |
| run: | |
| shell: bash -l {0} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-20.04, windows-2019, macos-12] | |
| matlab_version: [R2022a, R2022b, R2023a] | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| channels: conda-forge,robotology | |
| - name: Setup MATLAB | |
| uses: matlab-actions/setup-matlab@v1 | |
| with: | |
| release: ${{ matrix.matlab_version }} | |
| - name: Dependencies | |
| run: | | |
| # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 | |
| conda config --remove channels defaults | |
| # Compilation related dependencies | |
| mamba install cmake compilers make ninja pkg-config | |
| # Actual dependencies | |
| mamba install eigen libxml2 assimp ipopt irrlicht osqp-eigen glfw | |
| # Additional dependencies useful only on Linux | |
| - name: Dependencies [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| # Additional dependencies only useful on Linux | |
| # See https://github.com/robotology/robotology-superbuild/issues/477 | |
| mamba install xorg-libx11 xorg-libxrandr freeglut mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 | |
| # Additional dependencies useful only on Windows | |
| - name: Dependencies [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| run: | | |
| # Additional dependencies only useful on Windows | |
| # See https://github.com/robotology/robotology-superbuild/issues/477 | |
| mamba install vs2019_win-64 | |
| # Workaround for https://github.com/robotology/idyntree/issues/1109 | |
| - name: Dependencies [Conda/macOS] | |
| if: contains(matrix.os, 'macos') | |
| run: | | |
| mamba install libblas=*=*netlib | |
| # workaround for https://github.com/robotology/robotology-superbuild/issues/64 | |
| # and https://github.com/robotology/idyntree/issues/995 | |
| - name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | |
| echo "LD_PRELOAD=${CONDA_PREFIX}/lib/libstdc++.so.6" >> $GITHUB_ENV | |
| - name: Print used environment [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| mamba list | |
| env | |
| - name: Configure [Conda - Linux or macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON .. | |
| - name: Configure [Conda - Windows] | |
| if: contains(matrix.os, 'windows') | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON .. | |
| - name: Build | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Inspect libraries linked by iDynTreeMEX.mexa64 [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| cd build | |
| ldd ./lib/iDynTreeMEX.mexa64 | |
| - name: Test [Conda] | |
| run: | | |
| cd build | |
| # Only run matlab tests as the rest of tests are already run by other jobs | |
| ctest --output-on-failure -C ${{ matrix.build_type }} -R "matlab" -VV . | |
| - name: Install [Conda] | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} |