From c336b19aa1febe25e5b9b45a1a97f9050accabf1 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Sat, 31 Aug 2019 22:35:55 +0200 Subject: [PATCH 1/3] Add CI pipeline with Github Actions --- .github/workflows/ci.yml | 176 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 176 insertions(+) create mode 100644 .github/workflows/ci.yml diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..4c174ec --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,176 @@ +name: C++ CI 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 * * *' + +env: + osqp_TAG: v0.6.0 + vcpkg_robotology_TAG: v0.0.3 + Catch2_TAG: v2.12.1 + +# Test with different operating systems +jobs: + build: + name: '[${{ matrix.os }}@${{ matrix.build_type }}]' + runs-on: ${{ matrix.os }} + strategy: + matrix: + build_type: [Debug, Release] + os: [ubuntu-latest, macOS-latest, windows-latest] + fail-fast: false + + # operating system dependences + steps: + - uses: actions/checkout@master + + # Print environment variables to simplify development and debugging + - name: Environment Variables + shell: bash + run: env + + # ============ + # DEPENDENCIES + # ============ + + # Remove apt repos that are known to break from time to time + # See https://github.com/actions/virtual-environments/issues/323 + - name: Remove broken apt repos [Ubuntu] + if: matrix.os == 'ubuntu-latest' + run: | + for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done + + - name: Dependencies [Windows] + if: matrix.os == 'windows-latest' + run: | + # To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need + choco install -y wget unzip + # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg + # that has been used to create the pre-compiled archive + cd C:/ + md C:/robotology + md C:/robotology/vcpkg + wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${env:vcpkg_robotology_TAG}/vcpkg-robotology.zip + unzip vcpkg-robotology.zip -d C:/robotology/vcpkg + # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg + echo "::set-env name=VCPKG_INSTALLATION_ROOT::C:/robotology/vcpkg" + + # Install Catch2 + cd C:/robotology/vcpkg + ./vcpkg.exe install --triplet x64-windows catch2 + + - name: Dependencies [macOS] + if: matrix.os == 'macOS-latest' + run: | + brew install eigen catch2 + + - name: Dependencies [Ubuntu] + if: matrix.os == 'ubuntu-latest' + run: | + sudo apt-get update + sudo apt-get install git build-essential cmake libeigen3-dev valgrind + + - name: Cache Source-based Dependencies + id: cache-source-deps + uses: actions/cache@v1 + with: + path: ${{ github.workspace }}/install/deps + key: source-deps-${{ runner.os }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-osqp-${{ env.osqp_TAG }}-catch2-${{ env.Catch2_TAG }} + + - name: Source-based Dependencies [Windows] + if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-latest' + shell: bash + run: | + # osqp + cd ${GITHUB_WORKSPACE} + git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp + cd osqp + mkdir -p build + cd build + cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ + -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. + + cmake --build . --config ${{ matrix.build_type }} --target INSTALL + + - name: Source-based Dependencies [Ubuntu/macOS] + if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest') + shell: bash + run: | + # osqp + cd ${GITHUB_WORKSPACE} + git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp + cd osqp + mkdir -p build + cd build + cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. + cmake --build . --config ${{ matrix.build_type }} --target install + + + - name: Source-based Dependencies [Ubuntu] + if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'ubuntu-latest' + shell: bash + run: | + git clone -b ${Catch2_TAG} https://github.com/catchorg/Catch2.git + cd Catch2 + mkdir -p build + cd build + cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ + -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ + -DBUILD_TESTING=OFF .. + cmake --build . --config ${{ matrix.build_type }} --target install + + # =================== + # CMAKE-BASED PROJECT + # =================== + + - name: Configure [Windows] + if: matrix.os == 'windows-latest' + shell: bash + run: | + mkdir -p build + cd build + cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ + -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ + -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ + -DBUILD_TESTING:BOOL=ON .. + + - name: Configure [Ubuntu] + if: matrix.os == 'ubuntu-latest' + shell: bash + run: | + mkdir -p build + cd build + cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ + -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ + -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ + -DBUILD_TESTING:BOOL=ON \ + -DOSQPEIGEN_RUN_Valgrind_tests:BOOL=ON .. + + - name: Configure [macOS] + if: matrix.os == 'macOS-latest' + shell: bash + run: | + mkdir -p build + cd build + cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ + -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ + -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ + -DBUILD_TESTING:BOOL=ON .. + + - name: Build + shell: bash + run: | + cd build + export PATH=$PATH:/d/a/osqp-eigen/osqp-eigen/install/bin:/d/a/osqp-eigen/osqp-eigen/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin + cmake --build . --config ${{ matrix.build_type }} + + - name: Test + shell: bash + run: | + cd build + export PATH=$PATH:/d/a/osqp-eigen/osqp-eigen/install/bin:/d/a/osqp-eigen/osqp-eigen/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin + ctest --output-on-failure -C ${{ matrix.build_type }} . From 3d6896cf4672b070bb93778cfbc7911d02324319 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 14 May 2020 14:26:47 +0200 Subject: [PATCH 2/3] Remove travis and appveyor CI systems --- .ci/install_debian.sh | 10 ---- .ci/install_debian_and_script.sh | 7 --- .ci/script.sh | 36 ------------ .travis.yml | 95 -------------------------------- appveyor.yml | 43 --------------- 5 files changed, 191 deletions(-) delete mode 100644 .ci/install_debian.sh delete mode 100644 .ci/install_debian_and_script.sh delete mode 100644 .ci/script.sh delete mode 100644 .travis.yml delete mode 100644 appveyor.yml diff --git a/.ci/install_debian.sh b/.ci/install_debian.sh deleted file mode 100644 index f405be9..0000000 --- a/.ci/install_debian.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/sh -set -e - -apt-get update - -# noninteractive tzdata ( https://stackoverflow.com/questions/44331836/apt-get-install-tzdata-noninteractive ) -export DEBIAN_FRONTEND=noninteractive - -# CI specific packages -apt-get install -y clang wget unzip build-essential cmake libeigen3-dev git diff --git a/.ci/install_debian_and_script.sh b/.ci/install_debian_and_script.sh deleted file mode 100644 index fc44203..0000000 --- a/.ci/install_debian_and_script.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh -set -e - -DIR=$(dirname "$(readlink -f "$0")") - -sh $DIR/install_debian.sh -sh $DIR/script.sh diff --git a/.ci/script.sh b/.ci/script.sh deleted file mode 100644 index cbf69a0..0000000 --- a/.ci/script.sh +++ /dev/null @@ -1,36 +0,0 @@ -#!/bin/sh -set -e - -# google test -wget https://github.com/google/googletest/archive/release-1.8.0.zip -unzip release-1.8.0.zip -cd googletest-release-1.8.0 -mkdir build -cd build -cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DBUILD_GTEST=ON -DBUILD_SHARED_LIBS=ON .. -cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install -cd ../.. - -# osqp -git clone --recursive https://github.com/oxfordcontrol/osqp.git -cd osqp -mkdir build -cd build -cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DUNITTESTS=OFF .. -cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install -cd ../.. - -# Build, test and install osqp-eigen -cd $TRAVIS_BUILD_DIR -mkdir build -cd build -cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DBUILD_TESTING=ON .. -cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install -ctest --output-on-failure --build-config ${TRAVIS_BUILD_TYPE} - -# Build osqp-eigen example -cd ../example -mkdir build -cd build -cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. -cmake --build . --config ${TRAVIS_BUILD_TYPE} diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 19a3c66..0000000 --- a/.travis.yml +++ /dev/null @@ -1,95 +0,0 @@ -dist: trusty -language: cpp -services: docker - -os: linux - -cache: - directories: - - $HOME/.ccache - - $HOME/Library/Caches/Homebrew - -stages: - - test # Default stage with job matrix - - osx - -compiler: - - gcc - -env: - global: - - TRAVIS_CMAKE_GENERATOR="Unix Makefiles" - matrix: - - TRAVIS_BUILD_TYPE="Release" UBUNTU="xenial" - - TRAVIS_BUILD_TYPE="Debug" UBUNTU="xenial" - - TRAVIS_BUILD_TYPE="Release" UBUNTU="bionic" - - TRAVIS_BUILD_TYPE="Debug" UBUNTU="bionic" - -# =================== -# STAGE: test (linux) -# =================== - -before_script: - - docker pull ubuntu:$UBUNTU - -script: - - >- - docker run -it \ - -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR \ - -v $HOME/.ccache:$HOME/.ccache \ - -w $TRAVIS_BUILD_DIR \ - --env CC \ - --env CXX \ - --env TRAVIS_BUILD_DIR \ - --env TRAVIS_BUILD_TYPE \ - --env TRAVIS_CMAKE_GENERATOR \ - ubuntu:$UBUNTU \ - sh .ci/install_debian_and_script.sh - -# ========== -# STAGE: osx -# ========== - -stage_osx: - install: &osx_install - # Setup ccache - - brew update - - brew install ccache - - export PATH="/usr/local/opt/ccache/libexec:$PATH" - # Install dependencies - - brew install eigen pkg-config - script: &osx_script - - cd $TRAVIS_BUILD_DIR/.ci - - sh ./script.sh - -# ====================== -# BUILD JOBS FROM STAGES -# ====================== - -jobs: - include: - # --------- - # STAGE OSX - # --------- - - &osx_template - stage: osx - os: osx - osx_image: xcode9.4 - before_install: skip - install: *osx_install - before_script: skip - script: *osx_script - after_failure: skip - after_success: skip - after_script: skip - env: - TRAVIS_CMAKE_GENERATOR="Xcode" - TRAVIS_BUILD_TYPE="Debug" - - <<: *osx_template - compiler: clang - env: - TRAVIS_CMAKE_GENERATOR="Unix Makefiles" - TRAVIS_BUILD_TYPE="Debug" - -notifications: - email: false diff --git a/appveyor.yml b/appveyor.yml deleted file mode 100644 index ad07af6..0000000 --- a/appveyor.yml +++ /dev/null @@ -1,43 +0,0 @@ -version: 1.0.{build} - -clone_folder: c:\projects\osqp-eigen - -environment: - Eigen3_DIR: C:/Program Files (x86)/Eigen/lib/cmake/eigen3/ - -os: - - Visual Studio 2015 - - Visual Studio 2017 - -install: - # Check env variables - - cmd: echo CMAKE_PREFIX_PATH %CMAKE_PREFIX_PATH% - - cmd: echo PATH %PATH% -build: - -build_script: - # download and build osqp - - cd c:\projects - - git clone --recursive --depth 1 https://github.com/oxfordcontrol/osqp.git - - cd osqp - - md build - - cd build - - cmake .. - - cmake --build . --config Release - - cmake --build . --config Release --target INSTALL - # download and install eigen3 - - cd c:\projects - - hg clone https://bitbucket.org/eigen/eigen - - cd eigen - - hg checkout 3.3-beta2 - - md build - - cd build - - cmake .. - - cmake --build . --config Release --target INSTALL - # compile osqp-eigen - - cd c:\projects\osqp-eigen - - md build - - cd build - - cmake .. -DEIGEN3_INCLUDE_DIR="C:/Program Files (x86)/Eigen/include/eigen3" - - cmake --build . --config Release - - cmake --build . --config Release --target INSTALL From 9844e6f0ede76a115b654950631426d4cdbd590b Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Thu, 14 May 2020 15:34:28 +0200 Subject: [PATCH 3/3] Update the README.md removing the Travis and Appveyor badges and adding GitHub CI one --- README.md | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 32b1e67..f468394 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,15 @@ -# osqp-eigen -Simple C++ wrapper for [osqp](http://osqp.readthedocs.io/en/latest/index.html) library. +

+

osqp-eigen

+

+ +

+C++ Standard +Size + + +

-| System | Status | -| ------------- | :-------------: | -| Linux / OSX | [![Build Status](https://travis-ci.org/robotology/osqp-eigen.svg?branch=master)](https://travis-ci.org/robotology/osqp-eigen) | -| Windows | [![Build status](https://ci.appveyor.com/api/projects/status/1uecfmyvxb2dujt9/branch/master?svg=true)](https://ci.appveyor.com/project/robotology/osqp-eigen/branch/master) | +Simple C++ wrapper for [osqp](http://osqp.readthedocs.io/en/latest/index.html) library. ## Dependeces