windows-conda.yml 2.27 KB
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name: Build Pinocchio via Conda
on:
  pull_request:
  push:
    branches:
      - master
      - devel

jobs:
  build:
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
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        name: [windows-latest-clang-cl]

        include:
          - name: windows-latest-clang-cl
            os: windows-2019
            compiler: clang-cl

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    steps:
    - uses: actions/checkout@v2
    - name: Checkout submodules
      run: |
        git submodule update --init
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        pushd "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\VC\Tools\Llvm\bin"
        set PATH="C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\VC\Tools\Llvm\bin":%PATH%
        ./clang-cl.exe --version
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    - uses: goanpeca/setup-miniconda@v1
      with:
        activate-environment: pinocchio
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        environment-file: .github/workflows/conda-env.yml
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        python-version: 3.7
    - name: Build Pinocchio
      shell: cmd /C CALL {0}
      run: |
        :: unset extra Boost envs
        set Boost_ROOT=
        set BOOST_ROOT_1_69_0=
        set BOOST_ROOT_1_72_0=
        set PATH=%PATH:C:\hostedtoolcache\windows\Boost\1.72.0;=%
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        where cmake
        del C:\Miniconda\envs\pinocchio\Library\bin\cmake.exe
        call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\vsdevcmd.bat"
        echo %PATH%
        dir "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Tools"
        dir "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\VC\Tools\Llvm\bin"
        set PATH="C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\VC\Tools\Llvm\bin":%PATH%
        echo %PATH%
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        :: start building
        mkdir build
        pushd build
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        set PKG_CONFIG_PATH=%CONDA_PREFIX%\Library\share\pkgconfig:%CONDA_PREFIX%\Library\share\pkgconfig
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        cmake ^
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          -G "Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 ^
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          -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
          -DCMAKE_BUILD_TYPE=Release ^
          -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
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          -DBUILD_WITH_URDF_SUPPORT=ON -DBUILD_PYTHON_INTERFACE=ON ^
          -DCMAKE_CXX_FLAGS="/EHsc /bigobj" ^
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          ..
        cmake --build . --config Release --target install
        ctest --output-on-failure