test.yml

name: Tests

on:
  push:
    branches:
      - main
  pull_request:
    branches:
      - main
  schedule:
    - cron: "0 7 * * 0"

env:
  ROBOTPKG_URL: "http://robotpkg.openrobots.org/packages/debian"
  ROS: "humble"
  UBUNTU: "jammy"

jobs:
  test:
    name: "Test ${{ matrix.pm }} on ${{ matrix.os }} ${{ matrix.arch }}"
    runs-on: "${{ matrix.os }}-latest"
    strategy:
      fail-fast: false
      matrix:
        pm: ["pip", "conda", "nix"]
        os: ["ubuntu", "macos", "windows"]
        arch: ["main"]
        exclude:
          - pm: "pip"
            os: "windows"
          - pm: "nix"
            os: "windows"
        include:
          - pm: "robotpkg"
            os: "ubuntu"
          - pm: "ros"
            os: "ubuntu"
          - pm: "brew"
            os: "macos"
          - arch: "aarch64"
            os: "ubuntu"
            pm: "pip"
          - arch: "aarch64"
            os: "ubuntu"
            pm: "nix"
    steps:
      - uses: actions/checkout@v3

      # aarch64
      - name: Set up QEMU
        if: matrix.arch == 'aarch64'
        uses: docker/setup-qemu-action@v3
        with:
          platforms: all

      # brew
      - if: matrix.pm == 'brew'
        uses: Homebrew/actions/setup-homebrew@master
      - if: matrix.pm == 'brew'
        run: brew install pinocchio
      - if: matrix.pm == 'brew'
        run: echo "PATH=/opt/homebrew/opt/python@3/libexec/bin:$PATH" >> $GITHUB_ENV

      # conda
      - if: matrix.pm == 'conda'
        uses: conda-incubator/setup-miniconda@v3
      - if: matrix.pm == 'conda'
        run: conda install -n test -c conda-forge pinocchio
      - if: matrix.pm == 'conda'
        run: echo "CMAKE_PREFIX_PATH=$CONDA/envs/test" >> $GITHUB_ENV

      # nix
      - if: matrix.pm == 'nix'
        uses: cachix/install-nix-action@v30
      - if: matrix.pm == 'nix'
        uses: cachix/cachix-action@v15
        with:
          name: gepetto
          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
      - if: matrix.pm == 'nix'
        run: >
          nix shell   'nixpkgs#python3Packages.pinocchio' -c
          nix develop 'nixpkgs#python3Packages.pinocchio' -c
          env | grep .=. >> $GITHUB_ENV

      # pip
      - if: matrix.pm == 'pip'
        uses: actions/setup-python@v4  # required only because macos-latest still has python 2 by default…
        with:
          python-version: "3.13"
      - if: matrix.pm == 'pip'
        run: pip install pin[build]
      - if: matrix.pm == 'pip'
        run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV

      # robotpkg
      - if: matrix.pm == 'robotpkg'
        run: sudo wget "${ROBOTPKG_URL}/robotpkg.gpg" -O /robotpkg.gpg
      - if: matrix.pm == 'robotpkg'
        run: >
          echo "deb [arch=amd64 signed-by=/robotpkg.gpg] ${ROBOTPKG_URL}/pub ${UBUNTU} robotpkg"
          | sudo tee /etc/apt/sources.list.d/robotpkg.list
      - if: matrix.pm == 'robotpkg'
        run: sudo apt-get update && sudo apt-get install -qy robotpkg-py3*-pinocchio
      - if: matrix.pm == 'robotpkg'
        run: echo "CMAKE_PREFIX_PATH=/opt/openrobots" >> $GITHUB_ENV

      # ros
      - if: matrix.pm == 'ros'
        run: sudo wget "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key" -O /ros.key
      - if: matrix.pm == 'ros'
        run: >
          echo "deb [arch=amd64 signed-by=/ros.key] http://packages.ros.org/ros2/ubuntu ${UBUNTU} main"
          | sudo tee /etc/apt/sources.list.d/ros.list
      - if: matrix.pm == 'ros'
        run: sudo apt-get update && sudo apt-get install -qy "ros-${ROS}-pinocchio"
      - if: matrix.pm == 'ros'
        run: echo "CMAKE_PREFIX_PATH=/opt/ros/${ROS}" >> $GITHUB_ENV

      # windows
      # thx https://gist.github.com/justinian/81a2e55c89e8301a8a96 & https://stackoverflow.com/a/74547513/1368502
      - if: matrix.os == 'windows'
        run: >
          cmd /c '"%programfiles%\Microsoft Visual Studio\2022\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64 && set'
          | Select-String -Pattern "^(.*?)=(.*)$"
          | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append


      - run: cmake -B build -S .
      - run: cmake --build build
      - run: ./build/main

  test-arch:
    runs-on: "ubuntu-latest"
    container: ${{ matrix.container }}
    strategy:
      fail-fast: false
      matrix:
        container: ["archlinux/archlinux:base-devel"]
    env:
      MAKEFLAGS: -j4
    steps:
      - uses: actions/checkout@v3

      # install paru
      - run: pacman -Syu --noconfirm git
      - run: useradd -mG wheel user
      - run: echo "%wheel ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
      - run: git clone https://aur.archlinux.org/paru-bin.git
      - run: chown -R user paru-bin
      - run: su user -c "makepkg -D paru-bin -si --noconfirm"

      # use paru to install pinocchio and its dependencies from AUR
      - run: su user -c "paru -Syu --noconfirm pinocchio"

      - run: cmake -B build -S .
      - run: cmake --build build
      - run: ./build/main