ci.yml

name: Continuous Integration

on:
  push:
    paths-ignore:
    - 'doc/**'
    - '**.md'
  pull_request:
  schedule:
  - cron: '0 0 * * TUE'
  workflow_dispatch:

env:
  CMAKE_CCACHE_LAUNCHER: -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache

jobs:
  maybe_skip:
    runs-on: ubuntu-latest
    outputs:
      should_skip: ${{steps.skip_check.outputs.should_skip}}
    steps:
    - uses: fkirc/skip-duplicate-actions@v5
      id: skip_check
      with:
        cancel_others: 'true'

  build:
    name: build (${{matrix.os}}, ${{matrix.robotology.yarp}}, ${{matrix.compiler.cc}})
    runs-on: ${{matrix.os}}
    needs: maybe_skip
    if: ${{needs.maybe_skip.outputs.should_skip != 'true'}}

    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-22.04, ubuntu-24.04]
        robotology:
        - { yarp: yarp-3.8, cmake: 3.16.x }
        - { yarp: yarp-3.9, cmake: 3.16.x }
        - { yarp: master, cmake: 3.19.x }
        compiler:
        - { cc: gcc, cxx: g++ }
        - { cc: clang, cxx: clang++ }
        experimental:
        - ${{github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}}
        exclude:
        - { experimental: false, robotology: { yarp: master } }

    steps:
    - name: Check out kinematics-dynamics
      uses: actions/checkout@v4

    - name: Check out YCM
      uses: actions/checkout@v4
      with:
        repository: robotology/ycm
        path: .deps/ycm

    - name: Check out YARP
      uses: actions/checkout@v4
      with:
        repository: robotology/yarp
        ref: ${{matrix.robotology.yarp}}
        path: .deps/yarp

    - name: Check out Orocos KDL
      uses: actions/checkout@v4
      with:
        repository: orocos/orocos_kinematics_dynamics
        path: .deps/kdl

    - name: Check out SWIG
      if: ${{matrix.os == 'ubuntu-24.04'}}
      uses: actions/checkout@v4
      with:
        repository: swig/swig
        ref: v4.2.1
        path: .deps/swig

    - name: Install dependencies via apt
      run: sudo apt-get install -qq ccache libeigen3-dev googletest

    - name: Set up CMake
      uses: jwlawson/actions-setup-cmake@v2
      with:
        cmake-version: ${{matrix.robotology.cmake}}

    - name: Set up Ccache
      uses: hendrikmuhs/ccache-action@v1
      with:
        key: ${{matrix.os}}-${{matrix.robotology.yarp}}-${{matrix.compiler.cc}}

    - name: Set environment variables
      run: |
        echo "CC=${{matrix.compiler.cc}}" >> $GITHUB_ENV
        echo "CXX=${{matrix.compiler.cxx}}" >> $GITHUB_ENV

    - name: Build YCM
      run: |
        cmake -S .deps/ycm -B .deps/ycm/build
        cmake --build .deps/ycm/build
        sudo cmake --install .deps/ycm/build

    - name: Build YARP
      run: |
        cmake -S .deps/yarp -B .deps/yarp/build $CMAKE_CCACHE_LAUNCHER -DSKIP_ACE=ON -DYARP_DISABLE_VERSION_SOURCE=ON -DENABLE_yarpmod_fakeMotionControl=ON
        cmake --build .deps/yarp/build
        sudo cmake --install .deps/yarp/build

    - name: Build Orocos KDL
      run: |
        cmake -S .deps/kdl/orocos_kdl -B .deps/kdl/orocos_kdl/build $CMAKE_CCACHE_LAUNCHER
        cmake --build .deps/kdl/orocos_kdl/build
        sudo cmake --install .deps/kdl/orocos_kdl/build

    - name: Build SWIG
      if: ${{matrix.os == 'ubuntu-24.04'}}
      run: |
        cmake -S .deps/swig -B .deps/swig/build $CMAKE_CCACHE_LAUNCHER
        cmake --build .deps/swig/build
        sudo cmake --install .deps/swig/build
        echo "SWIG_ROOT=/usr/local/bin" >> $GITHUB_ENV

    - name: Configure kinematics-dynamics
      run: cmake -S . -B ./build $CMAKE_CCACHE_LAUNCHER -DCREATE_BINDINGS_PYTHON=ON -DENABLE_examples=ON

    - name: Compile kinematics-dynamics
      run: cmake --build ./build

    - name: Install kinematics-dynamics
      run: sudo cmake --install ./build && sudo ldconfig

    - name: Test kinematics-dynamics
      working-directory: build
      run: ctest -V

    - name: Uninstall kinematics-dynamics
      run: sudo cmake --build ./build --target uninstall