all-models-ci.yml

name: Build Sundials and Models

on:
  workflow_dispatch:
  push:
    branches:
      - main
jobs:
  build-all:
    runs-on: ubuntu-latest

    steps:
      - name: Checkout Repository
        uses: actions/checkout@v3

      - name: Set up Python
        uses: actions/setup-python@v2
        with:
          python-version: "3.8"

      - name: Install General Dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y cmake g++ make libopenmpi-dev
          # Installs CMake, G++, Make, and OpenMPI

      - name: Install SWIG
        run: sudo apt-get install -y swig

      - name: Install OpenMP
        run: sudo apt-get install -y libomp-dev
        # This installs the OpenMP library

      - name: Install CUDA Toolkit
        uses: Jimver/cuda-toolkit@v0.2.14
        id: cuda-toolkit
        with:
          cuda: "12.0.0"
          use-github-cache: false

      - name: Check NVCC Version
        run: nvcc -V

      - name: Download Sundials
        run: |
          wget https://github.com/LLNL/sundials/releases/download/v6.7.0/sundials-6.7.0.tar.gz -O sundials-6.7.0.tar.gz
          tar -xzvf sundials-6.7.0.tar.gz

      - name: Build Sundials
        run: |
          mkdir -p sundials-build
          cd sundials-build
          cmake ../sundials-6.7.0 -DBUILD_SHARED_LIBS=ON -DEXAMPLES_INSTALL_PATH=${GITHUB_WORKSPACE}/sundials-examples
          make
          sudo make install

      - name: Build 11DOF
        run: |
          cd ${GITHUB_WORKSPACE}/wheeled_vehicle_models/11dof/
          mkdir -p build
          cd build
          cmake ../ -DBUILD_PYTHON_MODULE=ON -DCMAKE_BUILD_TYPE=Release -DUSE_OPENMP=ON -USE_SUNDIALS=ON -DSUNDIALS_DIR=${GITHUB_WORKSPACE}/sundials-build
          make
      - name: Set PYTHONPATH
        run: echo "PYTHONPATH=${{ github.workspace }}/wheeled_vehicle_models/11dof/build:$PYTHONPATH" >> $GITHUB_ENV

      - name: Import 11dof Python Module
        run: python -c "import pydof11 as dof11"

      - name: Build 18DOF
        run: |
          cd ${GITHUB_WORKSPACE}/wheeled_vehicle_models/18dof/
          mkdir -p build
          cd build
          cmake ../ -DBUILD_PYTHON_MODULE=ON -DCMAKE_BUILD_TYPE=Release -DUSE_OPENMP=ON -USE_SUNDIALS=ON -DSUNDIALS_DIR=${GITHUB_WORKSPACE}/sundials-build
          make

      - name: Set PYTHONPATH
        run: echo "PYTHONPATH=${{ github.workspace }}/wheeled_vehicle_models/18dof/build:$PYTHONPATH" >> $GITHUB_ENV

      - name: Import 18dof Python Module
        run: python -c "import pydof18 as dof18"

      - name: Build 24DOF
        run: |
          cd ${GITHUB_WORKSPACE}/wheeled_vehicle_models/24dof/
          mkdir -p build
          cd build
          cmake ../ -DBUILD_PYTHON_MODULE=ON -DCMAKE_BUILD_TYPE=Release -DUSE_OPENMP=ON -USE_SUNDIALS=ON -DSUNDIALS_DIR=${GITHUB_WORKSPACE}/sundials-build
          make

      - name: Set PYTHONPATH
        run: echo "PYTHONPATH=${{ github.workspace }}/wheeled_vehicle_models/24dof/build:$PYTHONPATH" >> $GITHUB_ENV

      - name: Import 24dof Python Module
        run: python -c "import pydof24 as dof24"

      - name: Build 11dof-gpu
        run: |
          cd ${GITHUB_WORKSPACE}/wheeled_vehicle_models/11dof-gpu/
          mkdir -p build
          cd build
          cmake ../ -DCMAKE_BUILD_TYPE=Release -DCMAKE_CUDA_ARCHITECTURES=52
          make

      - name: Build 18dof-gpu
        run: |
          cd ${GITHUB_WORKSPACE}/wheeled_vehicle_models/18dof-gpu/
          mkdir -p build
          cd build
          cmake ../ -DCMAKE_BUILD_TYPE=Release -DCMAKE_CUDA_ARCHITECTURES=52
          make

      - name: Build 24dof-gpu
        run: |
          cd ${GITHUB_WORKSPACE}/wheeled_vehicle_models/24dof-gpu/
          mkdir -p build
          cd build
          cmake ../ -DCMAKE_BUILD_TYPE=Release -DCMAKE_CUDA_ARCHITECTURES=52
          make

      - name: Build Tests
        run: |
          cd ${GITHUB_WORKSPACE}/wheeled_vehicle_models/tests
          mkdir -p build
          cd build
          cmake ../ -DCMAKE_BUILD_TYPE=Release -DINSTALL_GTEST=ON -DBUILD_GPU_TESTS=OFF
          make

      - name: Run Tests
        run: |
          cd ${GITHUB_WORKSPACE}/wheeled_vehicle_models/tests/build
          ctest --output-on-failure