linux.yml

name: CI - Linux via APT

on:
  push:
    paths-ignore:
      - doc/**
      - .gitlab-ci.yml
      - .gitignore
      - '*.md'
      - CITATION.*
      - COPYING.LESSER
      - colcon.pkg
      - .pre-commit-config.yaml
      - CHANGELOG.md
      - development/*.md
  pull_request:
    paths-ignore:
      - doc/**
      - .gitlab-ci.yml
      - .gitignore
      - '*.md'
      - CITATION.*
      - COPYING.LESSER
      - colcon.pkg
      - .pre-commit-config.yaml
      - CHANGELOG.md
      - development/*.md
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:

    runs-on: ubuntu-latest
    container: ${{ matrix.container }}
    strategy:
      matrix:
        container: ['ubuntu:20.04', 'ubuntu:22.04', 'ubuntu:24.04']

    env:
      CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
      CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
      CCACHE_COMPRESS: true
      CCACHE_COMPRESSLEVEL: 5

    steps:
      - name: Setup Container
        run: |
          apt-get -qq update
          DEBIAN_FRONTEND="noninteractive" apt-get -qq install -y lsb-release gnupg2 cmake git python3

      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
          submodules: recursive

      - name: Setup ccache
        uses: actions/cache@v4
        with:
          path: .ccache
          save-always: true
          key: ccache-linux-${{ matrix.container }}-${{ github.sha }}
          restore-keys: ccache-linux-${{ matrix.container }}-

    # extract branch name
      - name: Get branch name (merge)
        if: github.event_name != 'pull_request'
        shell: bash
        run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV

    # extract branch name on pull request
      - name: Get branch name (pull request)
        if: github.event_name == 'pull_request'
        shell: bash
        run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV

    # print branch name
      - name: Debug
        run: echo ${{ env.BRANCH_NAME }}

      - name: Register robotpkg
        run: |
          sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list "
          apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key

      - name: Set and install dependencies
        run: |
          export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
          export APT_DEPENDENCIES="doxygen \
                                   ccache \
                                   curl \
                                   cppcheck \
                                   libomp-dev \
                                   libomp5 \
                                   libboost-system-dev \
                                   libboost-test-dev \
                                   libboost-filesystem-dev \
                                   libboost-program-options-dev \
                                   libeigen3-dev \
                                   liburdfdom-dev \
                                   texlive-font-utils \
                                   libboost-python-dev \
                                   python3-numpy \
                                   python3-matplotlib \
                                   robotpkg-py${PYTHON3_VERSION}-eigenpy \
                                   robotpkg-py${PYTHON3_VERSION}-coal \
                                   robotpkg-py${PYTHON3_VERSION}-casadi"
          echo $APT_DEPENDENCIES

          apt-get update -qq
          DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES}

      - name: Free disk space
        run: |
          apt clean
          df -h

      - name: Run cmake
        run: |
          # Add cloned repo to safe.directory, since it was not cloned by the container
          git config --global --add safe.directory "$GITHUB_WORKSPACE"
          git submodule update --init
          export PATH=$PATH:/opt/openrobots/bin
          export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
          export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages
          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
          export CMAKE_PREFIX_PATH=/opt/openrobots/lib

          mkdir build
          cd build
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DCMAKE_BUILD_TYPE=Debug \
            -DBUILD_WITH_COLLISION_SUPPORT=ON \
            -DBUILD_ADVANCED_TESTING=OFF \
            -DBUILD_WITH_CASADI_SUPPORT=ON \
            -DPYTHON_EXECUTABLE=$(which python3) \
            -DBUILD_WITH_OPENMP_SUPPORT=ON \
            -DINSTALL_DOCUMENTATION=ON \
            -DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake
          make -j2
          make -j2 build_tests
          export CTEST_OUTPUT_ON_FAILURE=1
          make test
          make install

      - name: Test packaging
        run: |
          export PATH=$PATH:/opt/openrobots/bin
          export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig
          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
          export CMAKE_PREFIX_PATH=/opt/openrobots/lib
          cd ./unittest/packaging/cmake
          mkdir build
          cd build
          export CMAKE_PREFIX_PATH=/usr/local
          # Test CMake module packaging
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DPYTHON_EXECUTABLE=$(which python3)
          make -j2
          ./run_rnea
          ./load_urdf

          # Test pkg-config packaging
          cd ../../pkgconfig
          mkdir build
          cd build
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DPYTHON_EXECUTABLE=$(which python3)
          make -j2
          ./run_rnea
          ./load_urdf

          # Test FetchContent packaging
          cd ../../external
          export PINOCCHIO_GIT_REPOSITORY="file://"$GITHUB_WORKSPACE
          #export PINOCCHIO_GIT_REPOSITORY=$(git remote get-url origin)
          export PINOCCHIO_GIT_TAG="test-external-"$(git rev-parse --short HEAD)
          git tag $PINOCCHIO_GIT_TAG
          mkdir build
          cd build
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DPYTHON_EXECUTABLE=$(which python3)
          make -j2
          ./run_rnea
          ./load_urdf

          # Test CMake module packaging and pinocchio_header target
          cd ../../pinocchio_header
          mkdir build
          cd build
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DPYTHON_EXECUTABLE=$(which python3)
          make -j2
          ./run_fk

      - name: Uninstall project
        run: |
          cd build
          make uninstall

  check:
    if: always()
    name: check-linux-apt

    needs:
      - build

    runs-on: Ubuntu-latest

    steps:
      - name: Decide whether the needed jobs succeeded or failed
        uses: re-actors/alls-green@release/v1
        with:
          jobs: ${{ toJSON(needs) }}