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Merge pull request #216 from pariterre/master
RBDL 3.1.0?
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#---------------------------------# | ||
# environment configuration # | ||
#---------------------------------# | ||
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# Build worker image (VM template) | ||
image: | ||
- Ubuntu2004 | ||
- Visual Studio 2019 | ||
- macos | ||
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# set clone depth | ||
clone_depth: 5 # clone entire repository history if not defined | ||
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# There is no building process | ||
build: off | ||
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# scripts that run after cloning repository | ||
install: | ||
- sh: if [[ $CI_LINUX == true ]]; then sudo apt install lcov -y; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 1000 --slave /usr/bin/g++ g++ /usr/bin/g++-9; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then wget https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh -O miniconda.sh; bash miniconda.sh -b -p $HOME/miniconda; export PATH="$HOME/miniconda/bin:$PATH"; else curl https://repo.continuum.io/miniconda/Miniconda3-latest-MacOSX-x86_64.sh -L -o miniconda.sh; bash miniconda.sh -b -p $HOME/miniconda; export PATH="$HOME/miniconda/bin:$PATH"; fi | ||
- sh: hash -r | ||
- sh: source activate | ||
- cmd: SET MINICONDA_PATH="C:\\Miniconda38-x64" | ||
- cmd: SET PATH=%MINICONDA_PATH%;%MINICONDA_PATH%"\\Scripts";%PATH% | ||
- cmd: conda init cmd.exe | ||
- conda config --set always_yes yes --set changeps1 no | ||
- conda config --set auto_update_conda no | ||
- conda update -q conda | ||
- conda create -n biorbd | ||
- conda activate biorbd | ||
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# Set environment variables | ||
- sh: BIORBD_FOLDER=`pwd` | ||
- sh: BIORBD_CASADI_BUILD_FOLDER=$BIORBD_FOLDER/build_casadi | ||
- sh: BIORBD_EIGEN_BUILD_FOLDER=$BIORBD_FOLDER/build_eigen | ||
- sh: BIORBD_COVERAGE_BUILD_FOLDER=$BIORBD_FOLDER/build_coverage | ||
- sh: CONDA_ENV_PATH=$HOME/miniconda/envs | ||
- sh: if [[ $CI_LINUX == true ]]; then export CC=/usr/bin/gcc; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then export CXX=/usr/bin/g++; fi | ||
- cmd: SET BIORBD_FOLDER=%cd% | ||
- cmd: SET BIORBD_CASADI_BUILD_FOLDER=%BIORBD_FOLDER%\\build_casadi | ||
- cmd: SET BIORBD_EIGEN_BUILD_FOLDER=%BIORBD_FOLDER%\\build_eigen | ||
- cmd: SET CONDA_ENV_PATH=%MINICONDA_PATH%\\envs | ||
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# Setup the conda environment | ||
- conda install git rbdl tinyxml ipopt numpy pytest swig pkgconfig cmake -c conda-forge | ||
- sh: if [[ $CI_LINUX == true ]]; then conda install xorg-libx11 xorg-libxtst -cconda-forge; fi | ||
- cmd: conda install ninja -cconda-forge | ||
- conda list | ||
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test_script: | ||
############################################################################ | ||
# Test the Casadi backend | ||
############################################################################ | ||
- sh: cd $BIORBD_FOLDER | ||
- cmd: cd %BIORBD_FOLDER% | ||
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# LINUX and MAC | ||
- sh: mkdir -p $BIORBD_CASADI_BUILD_FOLDER | ||
- sh: cd $BIORBD_CASADI_BUILD_FOLDER | ||
- sh: cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH/biorbd/ -DMATH_LIBRARY_BACKEND="Casadi" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=OFF -DMODULE_MUSCLES=ON -DBINDER_PYTHON3=ON .. | ||
- sh: make install | ||
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# WINDOWS | ||
- cmd: mkdir %BIORBD_CASADI_BUILD_FOLDER% | ||
- cmd: cd %BIORBD_CASADI_BUILD_FOLDER% | ||
- cmd: cmake -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_ENV_PATH%/biorbd/ -DMATH_LIBRARY_BACKEND="Casadi" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=OFF -DMODULE_MUSCLES=ON -DBINDER_PYTHON3=ON .. | ||
- cmd: cmake --build . --config Release --target install | ||
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# Run the tests | ||
- cd test | ||
- sh: ./biorbd_casadi_tests | ||
- cmd: biorbd_casadi_tests.exe | ||
- cd .. | ||
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# Test for the python binder | ||
- cd test/binding/Python3 | ||
- pytest . | ||
- cd ../../.. | ||
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############################################################################ | ||
# Test the Eigen3 backend | ||
############################################################################ | ||
- sh: cd $BIORBD_FOLDER | ||
- cmd: cd %BIORBD_FOLDER% | ||
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# LINUX and MAC | ||
- sh: mkdir -p $BIORBD_EIGEN_BUILD_FOLDER | ||
- sh: cd $BIORBD_EIGEN_BUILD_FOLDER | ||
- sh: cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH/biorbd/ -DMATH_LIBRARY_BACKEND="Eigen3" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_C=ON -DBINDER_PYTHON3=ON .. | ||
- sh: make install | ||
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# WINDOWS | ||
- cmd: mkdir %BIORBD_EIGEN_BUILD_FOLDER% | ||
- cmd: cd %BIORBD_EIGEN_BUILD_FOLDER% | ||
- cmd: cmake -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_ENV_PATH%\\biorbd -DMATH_LIBRARY_BACKEND="Eigen3" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_C=ON -DBINDER_PYTHON3=ON .. | ||
- cmd: cmake --build . --config Release --target install | ||
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# Run the tests | ||
- cd test | ||
- sh: ./biorbd_eigen_tests | ||
- cmd: biorbd_eigen_tests.exe | ||
- cd .. | ||
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# Test the c binder | ||
- cd test/binding/c | ||
- sh: ./biorbd_eigen_tests_binding_c | ||
- cmd: biorbd_eigen_tests_binding_c.exe | ||
- cd ../../.. | ||
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# Test for the python binder | ||
- cd test/binding/Python3 | ||
- pytest . | ||
- cd ../../.. | ||
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############################################################################ | ||
# Code coverage (on Linux) | ||
############################################################################ | ||
- sh: if [[ $CI_LINUX == true ]]; then cd $BIORBD_FOLDER; mkdir $BIORBD_COVERAGE_BUILD_FOLDER; cd $BIORBD_COVERAGE_BUILD_FOLDER; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH/biorbd/ -DCMAKE_BUILD_TYPE=Coverage -DBUILD_TESTS=ON -DBUILD_EXAMPLE=OFF -DMODULE_ACTUATORS=ON -DMODULE_MUSCLES=ON -DMODULE_KALMAN=ON ..; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then cp -r test/models/ .; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then make biorbd_eigen_coverage; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then cd $BIORBD_EIGEN_BUILD_FOLDER; fi | ||
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############################################################################ | ||
# Test installation (cpp_casadi_installed folder) | ||
############################################################################ | ||
- sh: cd $BIORBD_FOLDER/examples/cpp_casadi_installed | ||
- cmd: cd %BIORBD_FOLDER%\\examples\\cpp_casadi_installed | ||
- mkdir build | ||
- cd build | ||
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# LINUX and Mac | ||
- sh: cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH/biorbd/ -DCMAKE_BUILD_TYPE=Release .. | ||
- sh: make | ||
- sh: ./forwardDynamicsExample | ||
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# WINDOWS | ||
- cmd: cmake -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_ENV_PATH%\\biorbd -DCMAKE_BUILD_TYPE=Release .. | ||
- cmd: cmake --build . --config Release | ||
- cmd: forwardDynamicsExample.exe | ||
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- sh: cd $BIORBD_FOLDER | ||
- cmd: cd %BIORBD_FOLDER% | ||
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############################################################################ | ||
# Test installation (cpp_eigen_installed folder) | ||
############################################################################ | ||
- sh: cd $BIORBD_FOLDER/examples/cpp_eigen_installed | ||
- cmd: cd %BIORBD_FOLDER%\\examples\\cpp_eigen_installed | ||
- mkdir build | ||
- cd build | ||
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# LINUX and Mac | ||
- sh: cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH/biorbd/ -DCMAKE_BUILD_TYPE=Release .. | ||
- sh: make | ||
- sh: ./forwardDynamicsExample | ||
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# WINDOWS | ||
- cmd: cmake -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_ENV_PATH%\\biorbd -DCMAKE_BUILD_TYPE=Release .. | ||
- cmd: cmake --build . --config Release | ||
- cmd: forwardDynamicsExample.exe | ||
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- sh: cd $BIORBD_FOLDER | ||
- cmd: cd %BIORBD_FOLDER% | ||
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on_success: | ||
# Uploading report to CodeCov | ||
- sh: if [[ $CI_LINUX == true ]]; then cd $BIORBD_COVERAGE_BUILD_FOLDER; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then lcov --directory . --capture --output-file coverage.info; lcov --remove coverage.info '/usr/*' --output-file coverage.info; lcov --list coverage.info; bash <(curl -s https://codecov.io/bash) || echo "Codecov did not collect coverage reports"; fi | ||
- sh: if [[ $CI_LINUX == true ]]; then cd $BIORBD_FOLDER; fi | ||
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