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Merge pull request #24 from tmcg0/dev
Target bioslam 1.0.1
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| Original file line number | Diff line number | Diff line change |
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| name: Linux CI | ||
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| on: [push, pull_request, workflow_dispatch] | ||
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| jobs: | ||
| build: | ||
| name: ${{ matrix.name }} ${{ matrix.build_type }} | ||
| runs-on: ${{ matrix.os }} | ||
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| env: | ||
| CTEST_OUTPUT_ON_FAILURE: ON | ||
| CTEST_PARALLEL_LEVEL: 2 | ||
| CMAKE_BUILD_TYPE: ${{ matrix.build_type }} | ||
| BOOST_VERSION: 1.67.0 | ||
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| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| name: [ | ||
| ubuntu-20.04-gcc-7, | ||
| ubuntu-20.04-gcc-9, | ||
| ubuntu-20.04-clang-9, | ||
| ] | ||
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| build_type: [Debug, Release] | ||
| include: | ||
| - name: ubuntu-20.04-gcc-7 | ||
| os: ubuntu-20.04 | ||
| compiler: gcc | ||
| version: "7" | ||
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| - name: ubuntu-20.04-gcc-9 | ||
| os: ubuntu-20.04 | ||
| compiler: gcc | ||
| version: "9" | ||
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| - name: ubuntu-20.04-clang-9 | ||
| os: ubuntu-20.04 | ||
| compiler: clang | ||
| version: "9" | ||
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| steps: | ||
| - name: Checkout | ||
| uses: actions/checkout@v3 | ||
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| - name: Print job details | ||
| run: | | ||
| echo "Job ${{ env.GITHUB_JOB }}" | ||
| echo "compiler: '${{matrix.compiler}}'" | ||
| echo "matrix name: '${{matrix.name}}" | ||
| echo "build type: '${{ matrix.build_type }}'" | ||
| - name: Install Eigen 3.3.9 | ||
| run: | | ||
| cd ${{runner.workspace}} # cd to runner home | ||
| git clone --depth 1 --branch 3.3.9 https://gitlab.com/libeigen/eigen eigen3 # clone Eigen | ||
| cd eigen3 && mkdir build && cd build # move into build dir for eigen3 | ||
| cmake .. | ||
| sudo make -j$(nproc) install | ||
| - name: Install Python 3.9 | ||
| run: | | ||
| if ["${{matrix.os}}"="ubuntu-18.04"]; then | ||
| sudo apt-get -y install libpython-dev python-numpy | ||
| else # Ubuntu 20.04 | ||
| sudo apt-get -y install libpython3-dev python-numpy | ||
| fi | ||
| - name: Install build tools | ||
| run: | | ||
| # LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository. | ||
| if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ] && [ "${{matrix.os}}"="ubuntu-18.04" ]; then | ||
| # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool | ||
| # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure | ||
| # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository | ||
| # This key is not in the keystore by default for Ubuntu so we need to add it. | ||
| LLVM_KEY=15CF4D18AF4F7421 | ||
| gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY | ||
| gpg -a --export $LLVM_KEY | sudo apt-key add - | ||
| sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" | ||
| fi | ||
| sudo apt-get -y update | ||
| sudo apt-get -y install cmake build-essential pkg-config libicu-dev | ||
| if [ "${{ matrix.compiler }}" = "gcc" ]; then | ||
| sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib | ||
| echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV | ||
| echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV | ||
| else | ||
| sudo apt-get install -y clang-${{ matrix.version }} g++-multilib | ||
| echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV | ||
| echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV | ||
| fi | ||
| - name: Install Boost | ||
| run: | | ||
| BOOST_FOLDER=boost_${BOOST_VERSION//./_} | ||
| wget https://boostorg.jfrog.io/artifactory/main/release/${BOOST_VERSION}/source/${BOOST_FOLDER}.tar.gz | ||
| tar -zxf ${BOOST_FOLDER}.tar.gz | ||
| cd ${BOOST_FOLDER}/ | ||
| ./bootstrap.sh --with-libraries=serialization,filesystem,thread,system,atomic,date_time,timer,chrono,program_options,regex | ||
| sudo ./b2 -j$(nproc) install | ||
| - name: Install GTSAM 4.0.3 | ||
| run: | | ||
| cd ${{runner.workspace}} # cd to runner home | ||
| git clone --depth 1 --branch 4.0.3 https://github.com/borglab/gtsam.git gtsam # clone latest from dev branch. switch to GTSAM 4.1 once it's tagged. | ||
| cd gtsam && mkdir build && cd build # move into build dir for gtsam | ||
| cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_WITH_EIGEN_MKL=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TIMING_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON .. | ||
| sudo make -j$(nproc) install | ||
| - name: Install hdf5 | ||
| run: sudo apt-get -y install libhdf5-serial-dev | ||
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| - name: Install HighFive v2.3.1 | ||
| run: | | ||
| cd ${{runner.workspace}} # cd to runner home | ||
| git clone https://github.com/BlueBrain/HighFive HighFive && cd HighFive # clone HighFive | ||
| git checkout a01ee6be4d4a75aeeb9fd962c3b415ea8cd395f6 # checkout v2.3.1 release | ||
| mkdir build && cd build # move into build dir for HighFive | ||
| cmake -DHIGHFIVE_USE_BOOST=OFF .. | ||
| sudo make -j$(nproc) install | ||
| - name: Install imuDataUtils | ||
| run: | | ||
| cd ${{runner.workspace}} # cd to runner home | ||
| git clone --depth 1 --branch master https://github.com/tmcg0/imuDataUtils imuDataUtils # clone imuDataUtils | ||
| cd imuDataUtils && mkdir build && cd build # move into build dir for imuDataUtils | ||
| cmake .. | ||
| sudo make -j$(nproc) install | ||
| - name: Install LCov | ||
| if: matrix.name == 'ubuntu-20.04-gcc-9' && matrix.build_type == 'Debug' | ||
| run: sudo apt-get update -q && sudo apt-get install lcov -q -y | ||
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| - name: Build bioslam | ||
| run: | | ||
| cd ${{github.workspace}} # cd to repo root | ||
| mkdir build && cd build # move into bioslam build dir | ||
| cmake -DBIOSLAM_BUILD_MATLAB_WRAPPER=OFF .. | ||
| sudo make -j$(nproc) install | ||
| - name: Test bioslam | ||
| run: make -j$(nproc) test | ||
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| - name: Run LCov | ||
| if: matrix.name == 'ubuntu-20.04-gcc-9' && matrix.build_type == 'Debug' | ||
| run: | | ||
| cd ${{github.workspace}}/build # cd to build folder | ||
| lcov -c -d . --include '*bioslam*' -o main_coverage.info | ||
| - name: Submit to codecov.io | ||
| if: matrix.name == 'ubuntu-20.04-gcc-9' && matrix.build_type == 'Debug' | ||
| uses: codecov/codecov-action@v3 | ||
| with: | ||
| files: ${{github.workspace}}/build/main_coverage.info | ||
| token: ${{ secrets.CODECOV_TOKEN }} # supposedly not required for public repos, but codecov fails otherwise | ||
| name: bioslam-codecov # optional | ||
| fail_ci_if_error: true # optional (default = false) | ||
| verbose: true # optional (default = false) | ||
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| - name: Archive code coverage results | ||
| if: matrix.name == 'ubuntu-20.04-gcc-9' && matrix.build_type == 'Debug' | ||
| uses: actions/upload-artifact@v3 | ||
| with: | ||
| name: code-coverage-report | ||
| path: ${{github.workspace}}/build/main_coverage.info | ||
| retention-days: 30 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| name: cpp-linter | ||
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| on: [push, pull_request, workflow_dispatch] | ||
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| jobs: | ||
| cpp-linter: | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: actions/checkout@v3 | ||
| - uses: cpp-linter/cpp-linter-action@v2 | ||
| id: linter | ||
| with: | ||
| style: 'llvm' | ||
| files-changed-only: false | ||
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| - name: Fail fast | ||
| if: steps.linter.outputs.checks-failed > 0 | ||
| run: | | ||
| echo "Some files failed the linting checks!" | ||
| exit 1 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| name: Dockerfile | ||
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| on: [push, pull_request, workflow_dispatch] | ||
|
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| jobs: | ||
| test: | ||
| name: Build, test Dockerfile | ||
| runs-on: ubuntu-latest | ||
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| steps: | ||
| - name: Checkout code | ||
| uses: actions/checkout@v3 | ||
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| - name: Build and run docker image | ||
| run: | | ||
| docker build -t bioslam -f ./docker/ubu-20.Dockerfile ./docker | ||
| docker run -id --name bioslam bioslam | ||
| - name: Run tests | ||
| run: docker exec -i bioslam make test |
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