Add first version of CMake build system (#2)

ami-iit · May 19, 2021 · d37b351 · d37b351
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diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
@@ -0,0 +1,98 @@
+name: C++ CI Workflow with conda-forge dependencies
+
+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:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-latest, macOS-latest]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        mamba-version: "*"
+        channels: conda-forge,defaults
+        channel-priority: true
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install casadi
+
+    - name: Install files to enable compilation of mex files [Conda/Linux]
+      if: contains(matrix.os, 'ubuntu')
+      run: |
+        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
+        unzip msdk_R2020b_mexa64.zip
+        rm msdk_R2020b_mexa64.zip
+        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
+        echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV
+
+    - name: Install files to enable compilation of mex files [Conda/macOS]
+      if: contains(matrix.os, 'macos')
+      run: |
+        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip
+        unzip msdk_R2020a_mexmaci64.zip
+        rm msdk_R2020a_mexmaci64.zip
+        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV
+        echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV
+
+    - name: Install files to enable compilation of mex files [Conda/Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash
+      run: |
+        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip
+        unzip msdk_R2020a_mexw64.zip
+        rm msdk_R2020a_mexw64.zip
+        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV
+        echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DBUILD_TESTING:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/build/install ..
+
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DBUILD_TESTING:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/build/install ..
+
+    - name: Build
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Test
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}
+
+    - name: Install
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}