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continuous_integration.yml
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name: continuous-integration
# syntax https://help.github.com/en/articles/workflow-syntax-for-github-actions
on:
# Run at 2am every night.
schedule:
- cron: '0 2 * * *'
pull_request:
branches:
- '*'
push:
branches:
- main
tags:
- '*'
jobs:
windows2019:
name: Windows 2019
runs-on: windows-2019
steps:
- uses: actions/checkout@v4
- name: Install Doxygen
# choco install doxygen.portable # <-- too unreliable.
run: |
(New-Object System.Net.WebClient).DownloadFile("https://github.com/doxygen/doxygen/releases/download/Release_1_12_0/doxygen-1.12.0.windows.x64.bin.zip", "doxygen.zip")
7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen
echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install numpy
#Need numpy to use SWIG numpy typemaps.
run: python3 -m pip install numpy==1.25
- name: Install SWIG
run: |
choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
swig -swiglib
- name: Cache dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# Every time a cache is created, it's stored with this key.
# In subsequent runs, if the key matches the key of an existing cache,
# then the cache is used. We chose for this key to depend on the
# operating system and a hash of the hashes of all files in the
# dependencies directory (non-recursive).
# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}
- name: Build dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
echo $env:GITHUB_WORKSPACE\\build_deps
mkdir $env:GITHUB_WORKSPACE\\build_deps
chdir $env:GITHUB_WORKSPACE\\build_deps
# /W0 disables warnings.
# https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
# TODO: CMake provides /W3, which overrides our /W0
cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
cmake --build . --config Release -- /maxcpucount:4
- name: Configure opensim-core
id: configure
run: |
mkdir $env:GITHUB_WORKSPACE\\build
chdir $env:GITHUB_WORKSPACE\\build
# TODO: Can remove /WX when we use that in CMakeLists.txt.
# Set the CXXFLAGS environment variable to turn warnings into errors.
# Skip timing test section included by default.
cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DOPENSIM_WITH_TROPTER=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
$env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
$version = $env:match.split('=')[1]
echo $version
echo "VERSION=$version" >> $GITHUB_ENV
echo "version=$version" >> $env:GITHUB_OUTPUT
- name: Build opensim-core
# Install now to avoid building bindings twice (issue when using Visual Studio 2019).
run: |
chdir $env:GITHUB_WORKSPACE\\build
cmake --build . --config Release --target doxygen -- /maxcpucount:4
cmake --build . --config Release --target install -- /maxcpucount:4
- name: Test opensim-core
run: |
chdir $env:GITHUB_WORKSPACE\\build
ctest --parallel 4 --output-on-failure --build-config Release
- name: Install opensim-core
# TODO: This is where we wish to do the installing, but it's done above for now.
run: |
chdir $env:GITHUB_WORKSPACE\\build
chdir $env:GITHUB_WORKSPACE
Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"
- name: Test Python bindings
run: |
echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
# Move to the installed location of the python package.
cd ~/opensim-core-install/sdk/python
# Run python tests.
python -m unittest discover --start-directory opensim/tests --verbose
- name: Upload opensim-core
uses: actions/upload-artifact@v4
with:
name: opensim-core-${{ steps.configure.outputs.version }}-win2019
path: opensim-core-${{ steps.configure.outputs.version }}.zip
windows2022:
runs-on: windows-2022
name: Windows 2022
outputs:
version: ${{ steps.configure.outputs.version }}
steps:
- uses: actions/checkout@v4
- name: Install Doxygen
# choco install doxygen.portable # <-- too unreliable.
run: |
(New-Object System.Net.WebClient).DownloadFile("https://github.com/doxygen/doxygen/releases/download/Release_1_12_0/doxygen-1.12.0.windows.x64.bin.zip", "doxygen.zip")
7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen
echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install numpy
#Need numpy to use SWIG numpy typemaps.
run: python3 -m pip install numpy==1.25
- name: Install SWIG
run: |
choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
swig -swiglib
- name: Cache dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# Every time a cache is created, it's stored with this key.
# In subsequent runs, if the key matches the key of an existing cache,
# then the cache is used. We chose for this key to depend on the
# operating system and a hash of the hashes of all files in the
# dependencies directory (non-recursive).
# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}
- name: Build dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
echo $env:GITHUB_WORKSPACE\\build_deps
mkdir $env:GITHUB_WORKSPACE\\build_deps
chdir $env:GITHUB_WORKSPACE\\build_deps
# /W0 disables warnings.
# https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
# TODO: CMake provides /W3, which overrides our /W0
cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
cmake --build . --config Release -- /maxcpucount:4
- name: Configure opensim-core
id: configure
run: |
mkdir $env:GITHUB_WORKSPACE\\build
chdir $env:GITHUB_WORKSPACE\\build
# TODO: Can remove /WX when we use that in CMakeLists.txt.
# Set the CXXFLAGS environment variable to turn warnings into errors.
# Skip timing test section included by default.
cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_TROPTER=on -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
$env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
$version = $env:match.split('=')[1]
echo $version
echo "VERSION=$version" >> $GITHUB_ENV
echo "version=$version" >> $env:GITHUB_OUTPUT
- name: Build opensim-core
# Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?).
run: |
chdir $env:GITHUB_WORKSPACE\\build
cmake --build . --config Release --target doxygen -- /maxcpucount:4
cmake --build . --config Release --target install -- /maxcpucount:4
- name: Test opensim-core
run: |
chdir $env:GITHUB_WORKSPACE\\build
ctest --parallel 4 --output-on-failure --build-config Release -E Java_*
- name: Install opensim-core
# TODO: This is where we wish to do the installing, but it's done above for now.
run: |
chdir $env:GITHUB_WORKSPACE\\build
chdir $env:GITHUB_WORKSPACE
Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"
- name: Test Python bindings
run: |
echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
# Move to the installed location of the python package.
cd ~/opensim-core-install/sdk/python
# Run python tests.
python -m unittest discover --start-directory opensim/tests --verbose
- name: Upload opensim-core
uses: actions/upload-artifact@v4
with:
name: opensim-core-${{ steps.configure.outputs.version }}-win2022
path: opensim-core-${{ steps.configure.outputs.version }}.zip
windows2022_perf:
runs-on: windows-2022
name: Windows 2022 [main]
if: ${{ contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]') }}
steps:
- uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.base.ref }}
- name: Install Doxygen
# choco install doxygen.portable # <-- too unreliable.
run: |
(New-Object System.Net.WebClient).DownloadFile("https://github.com/doxygen/doxygen/releases/download/Release_1_12_0/doxygen-1.12.0.windows.x64.bin.zip", "doxygen.zip")
7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen
echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install numpy
#Need numpy to use SWIG numpy typemaps.
run: python3 -m pip install numpy==1.25
- name: Install SWIG
run: |
choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
swig -swiglib
- name: Cache dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# Every time a cache is created, it's stored with this key.
# In subsequent runs, if the key matches the key of an existing cache,
# then the cache is used. We chose for this key to depend on the
# operating system and a hash of the hashes of all files in the
# dependencies directory (non-recursive).
# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}
- name: Build dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
echo $env:GITHUB_WORKSPACE\\build_deps
mkdir $env:GITHUB_WORKSPACE\\build_deps
chdir $env:GITHUB_WORKSPACE\\build_deps
# /W0 disables warnings.
# https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
# TODO: CMake provides /W3, which overrides our /W0
cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
cmake --build . --config Release -- /maxcpucount:4
- name: Configure opensim-core
id: configure
run: |
mkdir $env:GITHUB_WORKSPACE\\build
chdir $env:GITHUB_WORKSPACE\\build
# TODO: Can remove /WX when we use that in CMakeLists.txt.
# Set the CXXFLAGS environment variable to turn warnings into errors.
# Skip timing test section included by default.
cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
$env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
$version = $env:match.split('=')[1]
echo $version
echo "VERSION=$version" >> $GITHUB_ENV
echo "version=$version" >> $env:GITHUB_OUTPUT
- name: Build opensim-core
# Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?).
run: |
chdir $env:GITHUB_WORKSPACE\\build
cmake --build . --config Release --target doxygen -- /maxcpucount:4
cmake --build . --config Release --target install -- /maxcpucount:4
- name: Test opensim-core
run: |
chdir $env:GITHUB_WORKSPACE\\build
ctest --parallel 4 --output-on-failure --build-config Release -E Java_*
- name: Install opensim-core
# TODO: This is where we wish to do the installing, but it's done above for now.
run: |
chdir $env:GITHUB_WORKSPACE\\build
chdir $env:GITHUB_WORKSPACE
Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ github.event.pull_request.base.ref }}" -Recurse
7z a "opensim-core-${{ github.event.pull_request.base.ref }}.zip" "opensim-core-${{ github.event.pull_request.base.ref }}"
- name: Test Python bindings
run: |
echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
# Move to the installed location of the python package.
cd ~/opensim-core-install/sdk/python
# Run python tests.
python -m unittest discover --start-directory opensim/tests --verbose
- name: Upload opensim-core
uses: actions/upload-artifact@v4
with:
name: opensim-core-${{ github.event.pull_request.base.ref }}-win2022
path: opensim-core-${{ github.event.pull_request.base.ref }}.zip
performance_analysis_win:
runs-on: ubuntu-latest
name: Performance Analysis [Windows 2022]
env:
GH_TOKEN: ${{ github.token }}
needs:
- windows2022
- windows2022_perf
if: ${{ contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]') }}
steps:
- name: Trigger opensim-perf workflow
uses: Codex-/return-dispatch@v1.12.0
id: return_dispatch
with:
token: ${{ secrets.PERF_DISPATCH_PAT }}
repo: opensim-perf
owner: opensim-org
ref: main
workflow: performance_analysis_win.yml
workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-win2022", "source_artifact_name": "opensim-core-${{ needs.windows2022.outputs.version }}-win2022", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.windows2022.outputs.version }}.zip"}'
- name: Await opensim-perf workflow
uses: Codex-/await-remote-run@v1.11.0
with:
token: ${{ secrets.PERF_DISPATCH_PAT }}
repo: opensim-perf
owner: opensim-org
run_id: ${{ steps.return_dispatch.outputs.run_id }}
run_timeout_seconds: 10000
- name: Download performance analysis results
id: download-artifact
uses: dawidd6/action-download-artifact@v3.0.0
with:
github_token: ${{ secrets.PERF_DISPATCH_PAT }}
run_id: ${{ steps.return_dispatch.outputs.run_id }}
workflow: performance_analysis_win.yml
name: performance-results
path: results
repo: opensim-org/opensim-perf
- name: Post results to pull request description
run: |
PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH")
EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} | jq -r '.body')
CUSTOM_HEADER="### Performance analysis"
REVIEWABLE_TAG="<!-- Reviewable:start -->"
REVIEWABLE_CONTENT=""
if [[ $EXISTING_COMMENT_CONTENT == *"$REVIEWABLE_TAG"* ]]; then
REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$REVIEWABLE_TAG/,0")
fi
if [[ $EXISTING_COMMENT_CONTENT == *"$CUSTOM_HEADER"* ]]; then
CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$CUSTOM_HEADER/,0")
else
CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT}
fi
NEW_CONTENT="${CUSTOM_HEADER}
Platform: Windows, self-hosted runner
$(cat results/performance_results.md)
${REVIEWABLE_CONTENT}
"
NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}"
# Update the existing description
gh api \
--method PATCH \
-H "Content-Type: application/json" \
-H "Accept: application/vnd.github.v3+json" \
-H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \
-f "body=${NEW_COMMENT_BODY}"
mac_x86_64:
runs-on: macos-13
name: Mac x86_64
outputs:
version: ${{ steps.configure.outputs.version }}
steps:
- uses: actions/checkout@v4
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install Homebrew packages
# Save the gfortran version to a file so we can use it in the cache key.
run: |
brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm
brew reinstall gcc
pip3 install numpy==1.25
gfortran -v
mkdir gfortran_version
gfortran -v &> gfortran_version/gfortran_version.txt
- name: Cache SWIG
id: cache-swig
uses: actions/cache@v3
with:
path: ~/swig
key: ${{ runner.os }}-swig
- name: Install SWIG
# if: steps.cache-swig.outputs.cache-hit != 'true'
run: |
mkdir ~/swig-source && cd ~/swig-source
wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
tar xzf v4.1.1.tar.gz && cd swig-4.1.1
sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
make && make -j4 install
- name: Cache dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# If Homebrew updates the gcc package, then our cache of IPOPT is invalid.
# Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes
# undefined.
key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }}
- name: Build dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
mkdir $GITHUB_WORKSPACE/../build_deps
cd $GITHUB_WORKSPACE/../build_deps
DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH)
DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
cmake "${DEP_CMAKE_ARGS[@]}"
make --jobs 4
- name: Configure opensim-core
id: configure
run: |
mkdir $GITHUB_WORKSPACE/../build
cd $GITHUB_WORKSPACE/../build
OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH)
OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
# TODO: Update to simbody.github.io/latest
OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy")
printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
cmake "${OSIM_CMAKE_ARGS[@]}"
VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2`
echo $VERSION
echo "VERSION=$VERSION" >> $GITHUB_ENV
echo "version=$VERSION" >> $GITHUB_OUTPUT
- name: Build opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
make --jobs 4
- name: Test opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
ctest --parallel 4 --output-on-failure
- name: Install opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
make doxygen
make install
cd $GITHUB_WORKSPACE
mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}.zip opensim-core-${{ steps.configure.outputs.version }}
mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
- name: Test Python bindings
run: |
cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
# Run the python tests, verbosely.
python3 -m unittest discover --start-directory opensim/tests --verbose
- name: Upload opensim-core
uses: actions/upload-artifact@v4
with:
# The upload-artifact zipping does not preserve symlinks or executable
# bits. So we zip ourselves, even though this causes a double-zip.
name: opensim-core-${{ steps.configure.outputs.version }}-mac-x86_64
path: opensim-core-${{ steps.configure.outputs.version }}.zip
mac_arm64:
runs-on: macos-14
name: Mac Arm64
outputs:
version: ${{ steps.configure.outputs.version }}
steps:
- uses: actions/checkout@v4
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install Homebrew packages
# Save the gfortran version to a file so we can use it in the cache key.
run: |
brew uninstall --ignore-dependencies --force pkg-config@0.29.2
brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm
brew reinstall gcc
pip3 install numpy==1.25
gfortran -v
mkdir gfortran_version
gfortran -v &> gfortran_version/gfortran_version.txt
- name: Cache SWIG
id: cache-swig
uses: actions/cache@v3
with:
path: ~/swig
key: ${{ runner.os }}-swig
- name: Install SWIG
# if: steps.cache-swig.outputs.cache-hit != 'true'
run: |
mkdir ~/swig-source && cd ~/swig-source
wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
tar xzf v4.1.1.tar.gz && cd swig-4.1.1
sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
make && make -j4 install
- name: Cache dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# If Homebrew updates the gcc package, then our cache of IPOPT is invalid.
# Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes
# undefined.
key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }}
- name: Build dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
mkdir $GITHUB_WORKSPACE/../build_deps
cd $GITHUB_WORKSPACE/../build_deps
DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH)
DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
cmake "${DEP_CMAKE_ARGS[@]}"
make --jobs 4
- name: Configure opensim-core
id: configure
run: |
mkdir $GITHUB_WORKSPACE/../build
cd $GITHUB_WORKSPACE/../build
OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH)
OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
# TODO: Update to simbody.github.io/latest
OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy")
printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
cmake "${OSIM_CMAKE_ARGS[@]}"
VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2`
echo $VERSION
echo "VERSION=$VERSION" >> $GITHUB_ENV
echo "version=$VERSION" >> $GITHUB_OUTPUT
- name: Build opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
make --jobs 4
- name: Test opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
ctest --parallel 4 --output-on-failure
- name: Install opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
make doxygen
make install
cd $GITHUB_WORKSPACE
mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}.zip opensim-core-${{ steps.configure.outputs.version }}
mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
- name: Test Python bindings
run: |
cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
# Run the python tests, verbosely.
python3 -m unittest discover --start-directory opensim/tests --verbose
- name: Upload opensim-core
uses: actions/upload-artifact@v4
with:
# The upload-artifact zipping does not preserve symlinks or executable
# bits. So we zip ourselves, even though this causes a double-zip.
name: opensim-core-${{ steps.configure.outputs.version }}-mac-arm64
path: opensim-core-${{ steps.configure.outputs.version }}.zip
mac_arm64_perf:
runs-on: macos-14
name: Mac Arm64 [main]
if: ${{ contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]') }}
steps:
- uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.base.ref }}
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install Homebrew packages
# Save the gfortran version to a file so we can use it in the cache key.
run: |
brew uninstall --ignore-dependencies --force pkg-config@0.29.2
brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm
brew reinstall gcc
pip3 install numpy==1.25
gfortran -v
mkdir gfortran_version
gfortran -v &> gfortran_version/gfortran_version.txt
- name: Cache SWIG
id: cache-swig
uses: actions/cache@v3
with:
path: ~/swig
key: ${{ runner.os }}-swig
- name: Install SWIG
# if: steps.cache-swig.outputs.cache-hit != 'true'
run: |
mkdir ~/swig-source && cd ~/swig-source
wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
tar xzf v4.1.1.tar.gz && cd swig-4.1.1
sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
make && make -j4 install
- name: Cache dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
# If Homebrew updates the gcc package, then our cache of IPOPT is invalid.
# Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes
# undefined.
key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }}
- name: Build dependencies
if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
mkdir $GITHUB_WORKSPACE/../build_deps
cd $GITHUB_WORKSPACE/../build_deps
DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH)
DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
cmake "${DEP_CMAKE_ARGS[@]}"
make --jobs 4
- name: Configure opensim-core
id: configure
run: |
mkdir $GITHUB_WORKSPACE/../build
cd $GITHUB_WORKSPACE/../build
OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH)
OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
# TODO: Update to simbody.github.io/latest
OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy")
printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
cmake "${OSIM_CMAKE_ARGS[@]}"
VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2`
echo $VERSION
echo "VERSION=$VERSION" >> $GITHUB_ENV
echo "version=$VERSION" >> $GITHUB_OUTPUT
- name: Build opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
make --jobs 4
- name: Test opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
ctest --parallel 4 --output-on-failure
- name: Install opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
make doxygen
make install
cd $GITHUB_WORKSPACE
mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ github.event.pull_request.base.ref }}
zip --symlinks --recurse-paths --quiet opensim-core-${{ github.event.pull_request.base.ref }}.zip opensim-core-${{ github.event.pull_request.base.ref }}
mv opensim-core-${{ github.event.pull_request.base.ref }} $GITHUB_WORKSPACE/../opensim-core-install
- name: Test Python bindings
run: |
cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
# Run the python tests, verbosely.
python3 -m unittest discover --start-directory opensim/tests --verbose
- name: Upload opensim-core
uses: actions/upload-artifact@v4
with:
# The upload-artifact zipping does not preserve symlinks or executable
# bits. So we zip ourselves, even though this causes a double-zip.
name: opensim-core-${{ github.event.pull_request.base.ref }}-mac-arm64
path: opensim-core-${{ github.event.pull_request.base.ref }}.zip
performance_analysis_mac:
runs-on: ubuntu-latest
name: Performance Analysis [Mac Arm64]
env:
GH_TOKEN: ${{ github.token }}
if: ${{ contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]') }}
needs:
- mac_arm64
- mac_arm64_perf
steps:
- name: Trigger opensim-perf workflow
uses: Codex-/return-dispatch@v1.12.0
id: return_dispatch
with:
token: ${{ secrets.PERF_DISPATCH_PAT }}
repo: opensim-perf
owner: opensim-org
ref: main
workflow: performance_analysis_mac.yml
workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-mac-arm64", "source_artifact_name": "opensim-core-${{ needs.mac_arm64.outputs.version }}-mac-arm64", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.mac_arm64.outputs.version }}.zip"}'
- name: Await opensim-perf workflow
uses: Codex-/await-remote-run@v1.11.0
with:
token: ${{ secrets.PERF_DISPATCH_PAT }}
repo: opensim-perf
owner: opensim-org
run_id: ${{ steps.return_dispatch.outputs.run_id }}
run_timeout_seconds: 10000
- name: Download performance analysis results
id: download-artifact
uses: dawidd6/action-download-artifact@v3.0.0
with:
github_token: ${{ secrets.PERF_DISPATCH_PAT }}
run_id: ${{ steps.return_dispatch.outputs.run_id }}
workflow: performance_analysis_mac.yml
name: performance-results
path: results
repo: opensim-org/opensim-perf
- name: Post results to pull request description
run: |
PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH")
EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} | jq -r '.body')
CUSTOM_HEADER="### Performance analysis"
REVIEWABLE_TAG="<!-- Reviewable:start -->"
REVIEWABLE_CONTENT=""
if [[ $EXISTING_COMMENT_CONTENT == *"$REVIEWABLE_TAG"* ]]; then
REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$REVIEWABLE_TAG/,0")
fi
if [[ $EXISTING_COMMENT_CONTENT == *"$CUSTOM_HEADER"* ]]; then
CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$CUSTOM_HEADER/,0")
else
CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT}
fi
NEW_CONTENT="${CUSTOM_HEADER}
Platform: Mac, GitHub Actions runner
$(cat results/performance_results.md)
${REVIEWABLE_CONTENT}
"
NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}"
# Update the existing description
gh api \
--method PATCH \
-H "Content-Type: application/json" \
-H "Accept: application/vnd.github.v3+json" \
-H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \
-f "body=${NEW_COMMENT_BODY}"
ubuntu20:
name: Ubuntu 20.04
runs-on: ubuntu-20.04
steps:
- uses: actions/checkout@v4
- name: Install Python packages
uses: actions/setup-python@v4
with:
python-version: '3.10'
- name: Install Numpy
run: |
pip install pip --upgrade
pip install numpy==1.25
- name: Install packages
run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf
- name: Install SWIG
# if: steps.cache-swig.outputs.cache-hit != 'true'
run: |
mkdir ~/swig-source && cd ~/swig-source
wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
tar xzf v4.1.1.tar.gz && cd swig-4.1.1
sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
make && make -j4 install
- name: Cache dependencies
id: cache-dependencies
uses: actions/cache@v3
with:
path: ~/opensim_dependencies_install
key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}
- name: Build dependencies
# if: steps.cache-dependencies.outputs.cache-hit != 'true'
run: |
mkdir $GITHUB_WORKSPACE/../build_deps
cd $GITHUB_WORKSPACE/../build_deps
DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH)
DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
cmake "${DEP_CMAKE_ARGS[@]}"
make --jobs 4
- name: Configure opensim-core
id: configure
run: |
mkdir $GITHUB_WORKSPACE/../build
cd $GITHUB_WORKSPACE/../build
OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH)
OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig)
OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig)
OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
# TODO: Update to simbody.github.io/latest
OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror")
printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
cmake "${OSIM_CMAKE_ARGS[@]}"
VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2`
echo $VERSION
echo "VERSION=$VERSION" >> $GITHUB_ENV
echo "version=$VERSION" >> $GITHUB_OUTPUT
- name: Build opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
make --jobs 4
- name: Test opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
# TODO: Temporary for python to find Simbody libraries.
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
ctest --parallel 4 --output-on-failure
- name: Install opensim-core
run: |
cd $GITHUB_WORKSPACE/../build
make doxygen
make --jobs 4 install
cd $GITHUB_WORKSPACE
mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ubuntu20.zip opensim-core-${{ steps.configure.outputs.version }}
mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
- name: Test Python bindings
run: |
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
# Run the python tests, verbosely.
python3 -m unittest discover --start-directory opensim/tests --verbose
- name: Upload opensim-core
uses: actions/upload-artifact@v4
with:
# The upload-artifact zipping does not preserve symlinks or executable
# bits. So we zip ourselves, even though this causes a double-zip.
name: opensim-core-${{ steps.configure.outputs.version }}-ubuntu20-linux
path: opensim-core-${{ steps.configure.outputs.version }}-ubuntu20.zip
ubuntu22:
name: Ubuntu 22.04
runs-on: ubuntu-22.04
steps:
- uses: actions/checkout@v4