Windows #224
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| name: Windows | |
| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| paths: | |
| - 'trajopt**' | |
| - '.github/workflows/windows.yml' | |
| - '.github/workflows/dependencies.repos' | |
| schedule: | |
| - cron: '0 5 * * *' | |
| jobs: | |
| ci: | |
| name: ${{ matrix.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [windows-2019,windows-2022] | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| path: workspace/src/trajopt | |
| - name: configure-msvc | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| with: | |
| arch: x64 | |
| - name: vcpkg build | |
| uses: johnwason/vcpkg-action@v4 | |
| with: | |
| pkgs: >- | |
| fcl bullet3[multithreading,double-precision,rtti] octomap console-bridge eigen3 yaml-cpp | |
| benchmark tinyxml2 assimp orocos-kdl pcl lapack-reference boost-dll boost-filesystem boost-filesystem | |
| boost-serialization boost-program-options boost-graph urdfdom ccd[double-precision] gtest jsoncpp | |
| triplet: x64-windows-release | |
| extra-args: --clean-after-build | |
| token: ${{ github.token }} | |
| cache-key: ci-${{ matrix.os }} | |
| revision: master | |
| - name: install-depends | |
| shell: cmd | |
| run: | | |
| python -m pip install vcstool -q | |
| python -m pip install colcon-common-extensions -q | |
| python -m pip install ninja -q | |
| - name: build-workspace | |
| working-directory: workspace | |
| shell: cmd | |
| run: | | |
| set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin | |
| set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release | |
| vcs import --input "${{ github.workspace }}/workspace/src/trajopt/dependencies.repos" src/ | |
| if %ERRORLEVEL% GEQ 1 exit 1 | |
| colcon build --event-handlers console_direct+ --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF | |
| if %ERRORLEVEL% GEQ 1 exit 1 | |
| - name: run-test | |
| working-directory: workspace | |
| shell: cmd | |
| run: | | |
| call ./install/setup.bat | |
| set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin | |
| colcon test --event-handlers console_direct+ --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp --return-code-on-test-failure | |
| if %ERRORLEVEL% GEQ 1 exit 1 | |
| colcon test-result --verbose | |
| if %ERRORLEVEL% GEQ 1 exit 1 |