conda-ci.yml

name: C++ CI Workflow

on:
  push:
  pull_request:
  schedule:
  # * is a special character in YAML so you have to quote this string
  # Execute a "nightly" build at 2 AM UTC 
  - cron:  '0 2 * * *'
  
jobs:
  build-with-conda-dependencies:    
    name: '[conda:${{ matrix.os }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        build_type: [Release]
        os: [ubuntu-24.04, macos-latest, windows-2019]

    steps:
    - uses: actions/checkout@v4

    - uses: conda-incubator/setup-miniconda@v3
      with:
        miniforge-version: latest
        channels: conda-forge

    - name: Install files to enable compilation of mex files [Conda/Linux]
      if: contains(matrix.os, 'ubuntu') 
      run: |
        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
        unzip msdk_R2020b_mexa64.zip
        rm msdk_R2020b_mexa64.zip
        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
        echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV
                
    - name: Install files to enable compilation of mex files [Conda/macOS]
      if: contains(matrix.os, 'macos') 
      run: |
        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2023b_mexmaca64.zip
        unzip msdk_R2023b_mexmaca64.zip
        rm msdk_R2023b_mexmaca64.zip
        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2023b_mexmaca64" >> $GITHUB_ENV
        echo "GHA_Matlab_MEX_EXTENSION=mexmaca64" >> $GITHUB_ENV

    - name: Install files to enable compilation of mex files [Conda/Windows]
      if: contains(matrix.os, 'windows') 
      shell: bash
      run: |
        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip
        unzip msdk_R2020a_mexw64.zip
        rm msdk_R2020a_mexw64.zip
        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV
        echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV

    - name: Dependencies [Conda]
      shell: bash -l {0}
      run: |
        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
        conda config --remove channels defaults
        # Compilation related dependencies 
        conda  install cmake compilers make ninja pkg-config
        # YARP dependencies 
        conda install ace eigen ycm-cmake-modules
        # Uncomment when we are compatible with releases in conda yarp
        # mamba install yarp 


    - name: Install YARP [Conda/Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        git clone https://github.com/robotology/yarp
        cd yarp
        mkdir build
        cd build
        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DYARP_COMPILE_EXECUTABLES:BOOL=OFF ..
        cmake --build . --config ${{ matrix.build_type }}        
        cmake --install . --config ${{ matrix.build_type }}
                
    - name:  Install YARP [Conda/Windows]
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        git clone https://github.com/robotology/yarp
        cd yarp
        mkdir build
        cd build
        cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DYARP_COMPILE_EXECUTABLES:BOOL=OFF ..
        cmake --build . --config ${{ matrix.build_type }}        
        cmake --install . --config ${{ matrix.build_type }}

    - name: Configure [Conda/Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        mkdir build
        cd build
        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DYARP_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} ..

    - name: Configure [Conda/Windows]
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        mkdir build
        cd build
        cmake -G"Visual Studio 16 2019"  -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON  -DYARP_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} ..

    - name: Build [Conda]
      shell: bash -l {0}
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

    - name: Inspect libraries linked by yarpMEX.mexa64 [Conda/Linux]
      if: contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        cd build
        ldd ./matlab/yarpMEX.mexa64

    - name: Install [Conda]
      shell: bash -l {0}
      run: |
        cd build
        cmake --install . --config ${{ matrix.build_type }}