conda-ci.yml

name: CONDA

# This determines when this workflow is run
on:
  push:
    paths-ignore:
      - 'doc/**'
      - '.gitlab-ci.yml'
      - '.gitignore'
      - '.pre-commit-config.yaml'
      - '*.md'
      - 'LICENSE'
      - 'pyproject.toml'
      - 'package.xml'
      - 'dependencies.rosintall'
  pull_request:
    paths-ignore:
      - 'doc/**'
      - '.gitlab-ci.yml'
      - '.gitignore'
      - '.pre-commit-config.yaml'
      - '*.md'
      - 'LICENSE'
      - 'pyproject.toml'
      - 'package.xml'
      - 'dependencies.rosintall'
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  crocoddyl-conda:
    name: (${{ matrix.os }}, clang, multi-threading, ipopt, ${{ matrix.build_type }})
    runs-on: ${{ matrix.os }}
    env:
      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
      CCACHE_COMPRESS: true
      CCACHE_COMPRESSLEVEL: 5

    strategy:
      fail-fast: false
      matrix:
        # os: ["ubuntu-latest", "macos-latest"]
        os: ["macos-latest"]
        build_type: [Release, Debug]
        python-version: ["3.8", "3.12"]
        compiler: [clang]

        include:
          # - os: ubuntu-latest
          - os: macos-latest

    steps:
    - uses: actions/checkout@v4
      with:
        submodules: recursive

    - uses: actions/cache@v4
      with:
        path: ${{ env.CCACHE_DIR }}
        key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }}
        restore-keys: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-

    - uses: conda-incubator/setup-miniconda@v3
      with:
        activate-environment: crocoddyl
        auto-update-conda: true
        environment-file: .github/workflows/conda/conda-env.yml
        python-version: ${{ matrix.python-version }}
        auto-activate-base: false

    - name: Install conda dependencies
      shell: bash -l {0}
      run: |
        conda activate crocoddyl
        conda install cmake ccache -c conda-forge
        conda install llvm-openmp libcxx -c conda-forge
        conda list

    - name: Install example-robot-data
      shell: bash -l {0}
      run: |
        conda activate crocoddyl
        mkdir third-party && cd third-party
        git clone --recursive https://github.com/Gepetto/example-robot-data.git
        cd example-robot-data && mkdir build && cd build
        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
        make install

    - name: Install compilers for macOS
      shell: bash -l {0}
      if: contains(matrix.os, 'macos-latest')
      run: |
        conda install compilers -c conda-forge

    - name: Enable CppADCodeGen compilation
      shell: bash -l {0}
      if: contains(matrix.build_type, 'Release')
      run: |
        echo "codegen_support=ON" >> "$GITHUB_ENV"

    - name: Disable CppADCodeGen compilation
      shell: bash -l {0}
      if: contains(matrix.build_type, 'Debug')
      run: |
        echo "codegen_support=OFF" >> "$GITHUB_ENV"

    - name: Build Crocoddyl
      shell: bash -l {0}
      run: |
        conda activate crocoddyl
        echo $CONDA_PREFIX

        mkdir build
        cd build

        cmake .. \
          -DCMAKE_CXX_COMPILER=/usr/bin/clang++ -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
          -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
          -DBUILD_WITH_CODEGEN_SUPPORT=${{ env.codegen_support }} -DPYTHON_EXECUTABLE=$(which python3) \
          -DBUILD_WITH_MULTITHREADS=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
        make

    - name: Run unit tests
      shell: bash -l {0}
      run: |
        conda activate crocoddyl
        cd build
        export CTEST_OUTPUT_ON_FAILURE=1
        make test

    - name:  Install Crocoddyl
      shell: bash -l {0}
      run: |
        cd build
        make install

    - name: Uninstall Crocoddyl
      shell: bash -l {0}
      run: |
        cd build
        make uninstall