Ray casting-based depth image renderer #58
Workflow file for this run
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| name: C++ API | |
| on: | |
| pull_request: | |
| branches: [ main ] | |
| jobs: | |
| build: | |
| name: Build | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| os: [ ubuntu-20.04, ubuntu-22.04, ubuntu-24.04 ] | |
| fail-fast: false | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| - name: Setup CMake | |
| uses: jwlawson/actions-setup-cmake@v2 | |
| with: | |
| cmake-version: '3.18' | |
| - name: Setup ccache | |
| uses: hendrikmuhs/[email protected] | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|${{ matrix.os }}-gcc-release | |
| create-symlink: true | |
| - name: Configure CMake | |
| working-directory: ${{github.workspace}} | |
| run: cmake -B build -DCMAKE_BUILD_TYPE=Release library/cpp | |
| - name: Build | |
| working-directory: ${{github.workspace}} | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| cmake --build build --parallel --config Release | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| test: | |
| name: Test | |
| needs: build | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| os: [ ubuntu-20.04, ubuntu-22.04, ubuntu-24.04 ] | |
| fail-fast: false | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| - name: Setup CMake | |
| uses: jwlawson/actions-setup-cmake@v2 | |
| with: | |
| cmake-version: '3.18' | |
| - name: Setup ccache | |
| uses: hendrikmuhs/[email protected] | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|${{ matrix.os }}-gcc-release | |
| create-symlink: true | |
| - name: Setup GTest | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -yq --no-install-recommends libgtest-dev | |
| - name: Configure CMake | |
| working-directory: ${{github.workspace}} | |
| run: cmake -B build -DCMAKE_BUILD_TYPE=Release -DENABLE_TESTING=ON library/cpp | |
| - name: Build tests | |
| working-directory: ${{github.workspace}} | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| cmake --build build --parallel --config Release | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| - name: Run tests | |
| working-directory: ${{github.workspace}} | |
| run: | | |
| all_tests_passed=1 | |
| for f in `find build/test/src/*/test_* -executable`; do | |
| $f --gtest_color=yes || all_tests_passed=0 | |
| done | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed!" | |
| exit 1 | |
| fi | |
| clang-tidy: | |
| name: Clang tidy | |
| needs: build | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| - name: Setup CMake | |
| uses: jwlawson/actions-setup-cmake@v2 | |
| with: | |
| cmake-version: '3.18' | |
| - name: Setup clang-tidy and system deps | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -q -y --no-install-recommends clang-tidy | |
| # NOTE: The following deps are installed s.t. clang-tidy correctly treats them as system deps | |
| sudo apt-get install -q -y --no-install-recommends libeigen3-dev libgoogle-glog-dev libboost-dev | |
| - name: Configure CMake | |
| working-directory: ${{github.workspace}} | |
| run: cmake -B build -DCMAKE_BUILD_TYPE=Release library/cpp | |
| - name: Run clang-tidy | |
| working-directory: ${{github.workspace}}/build | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/clang-tidy.json" | |
| run-clang-tidy -quiet -header-filter="*include/wavemap/*" | |
| echo "::remove-matcher owner=problem-matcher-clang-tidy::" | |
| valgrind: | |
| name: Valgrind memcheck | |
| needs: test | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| - name: Setup CMake | |
| uses: jwlawson/actions-setup-cmake@v2 | |
| with: | |
| cmake-version: '3.18' | |
| - name: Setup ccache | |
| uses: hendrikmuhs/[email protected] | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-release | |
| create-symlink: true | |
| - name: Setup GTest and Valgrind | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -yq --no-install-recommends libgtest-dev valgrind | |
| - name: Configure CMake | |
| working-directory: ${{github.workspace}} | |
| run: cmake -B build -DCMAKE_BUILD_TYPE=Release -DENABLE_TESTING=ON library/cpp | |
| - name: Build tests | |
| working-directory: ${{github.workspace}} | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| cmake --build build --parallel --config Release | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| - name: Check unit tests with Valgrind memcheck | |
| working-directory: ${{github.workspace}} | |
| run: | | |
| all_tests_passed=1 | |
| echo "::add-matcher::./.github/problem-matchers/valgrind.json" | |
| for f in `find build/test/src/*/test_* -executable`; do | |
| valgrind --tool=memcheck --leak-check=full --leak-resolution=high --num-callers=20 --track-origins=yes --show-possibly-lost=no --errors-for-leak-kinds=definite,indirect --error-exitcode=1 --xml=yes --xml-file=valgrind-log.xml $f --gtest_color=yes || all_tests_passed=0 | |
| grep -Poz '(?<=<error>)(.*\n)*.*(?=</error>)' valgrind-log.xml || true | |
| done | |
| echo "::remove-matcher owner=problem-matcher-valgrind::" | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed!" | |
| exit 1 | |
| fi | |
| sanitize: | |
| name: Sanitize ${{ matrix.sanitizer.detects }} | |
| needs: test | |
| runs-on: ${{ matrix.sanitizer.os }} | |
| strategy: | |
| matrix: | |
| sanitizer: | |
| - { name: UBSAN, detects: 'undefined behavior', os: ubuntu-20.04 } | |
| - { name: ASAN, detects: 'addressability and leaks', os: ubuntu-20.04 } | |
| - { name: TSAN, detects: 'data races and deadlocks', os: ubuntu-22.04 } | |
| # NOTE: We run TSAN on Ubuntu 22.04 since it's broken on 20.04, see: | |
| # https://bugs.launchpad.net/ubuntu/+source/gcc-10/+bug/2029910. | |
| # NOTE: MSAN is not used for now since it also requires all deps to be | |
| # instrumented (recompiled with clang and the MSan flags, LLVM's | |
| # stdlib instead of GCCs,...). We therefore use Valgrind to | |
| # check for uninitialized memory usage errors instead. | |
| fail-fast: false | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| - name: Setup CMake | |
| uses: jwlawson/actions-setup-cmake@v2 | |
| with: | |
| cmake-version: '3.18' | |
| - name: Setup ccache | |
| uses: hendrikmuhs/[email protected] | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|${{ matrix.sanitizer.os }}-gcc-${{ matrix.sanitizer.name }} | |
| create-symlink: true | |
| - name: Setup GTest | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -yq --no-install-recommends libgtest-dev | |
| - name: Configure CMake | |
| working-directory: ${{github.workspace}} | |
| run: cmake -B build -DCMAKE_BUILD_TYPE=Release -DENABLE_TESTING=ON -DUSE_${{ matrix.sanitizer.name }}=ON library/cpp | |
| - name: Build tests | |
| working-directory: ${{github.workspace}} | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| cmake --build build --parallel --config Release | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| - name: Check unit tests with ${{ matrix.sanitizer.name }} | |
| working-directory: ${{github.workspace}} | |
| env: | |
| UBSAN_OPTIONS: halt_on_error=1:print_stacktrace=1 | |
| ASAN_OPTIONS: halt_on_error=1:detect_leaks=1:detect_stack_use_after_return=1 | |
| TSAN_OPTIONS: halt_on_error=1:second_deadlock_stack=1 | |
| run: | | |
| all_tests_passed=1 | |
| echo "::add-matcher::./.github/problem-matchers/gcc-sanitizers.json" | |
| for f in `find build/test/src/*/test_* -executable`; do | |
| $f --gtest_color=yes || all_tests_passed=0 | |
| done | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed!" | |
| exit 1 | |
| fi | |
| echo "::remove-matcher owner=problem-matcher-gcc-ubsan::" | |
| echo "::remove-matcher owner=problem-matcher-gcc-asan::" | |
| echo "::remove-matcher owner=problem-matcher-gcc-tsan::" |