fix: segfault + obstacle collision + regenerated demo GIFs #22
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| name: CI | |
| on: | |
| push: | |
| branches: [main] | |
| pull_request: | |
| branches: [main] | |
| env: | |
| BUILD_TYPE: Release | |
| jobs: | |
| build: | |
| name: ${{ matrix.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, macos-latest, windows-latest] | |
| steps: | |
| - name: Checkout (with submodules) | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| # --- Ubuntu: install Python for matplotlib --- | |
| - name: "[Ubuntu] Install Python dependencies" | |
| if: runner.os == 'Linux' | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y python3-dev python3-matplotlib python3-numpy | |
| # --- macOS: install Python for matplotlib --- | |
| - name: "[macOS] Install Python dependencies" | |
| if: runner.os == 'macOS' | |
| run: | | |
| brew install python3 | |
| pip3 install --break-system-packages matplotlib numpy | |
| echo "Python3_ROOT_DIR=$(brew --prefix python3)" >> $GITHUB_ENV | |
| # --- Windows: install Python for matplotlib --- | |
| - name: "[Windows] Install Python dependencies" | |
| if: runner.os == 'Windows' | |
| shell: pwsh | |
| run: | | |
| pip install matplotlib numpy | |
| # Find Python installation path | |
| $pyPath = (python -c "import sys; print(sys.prefix)") | |
| echo "Python3_ROOT_DIR=$pyPath" >> $env:GITHUB_ENV | |
| # --- Configure --- | |
| - name: Configure CMake | |
| run: > | |
| cmake -B build | |
| -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} | |
| -DBUILD_TESTING=ON | |
| ${{ runner.os == 'Windows' && '-G "Visual Studio 17 2022"' || '' }} | |
| # --- Build --- | |
| - name: Build | |
| run: cmake --build build --config ${{ env.BUILD_TYPE }} ${{ runner.os != 'Windows' && '-j$(nproc)' || '' }} | |
| # --- Test --- | |
| - name: Test | |
| run: ctest --test-dir build --build-config ${{ env.BUILD_TYPE }} --output-on-failure | |
| # --- Doxygen docs (Ubuntu only) --- | |
| docs: | |
| name: Documentation | |
| runs-on: ubuntu-latest | |
| if: github.ref == 'refs/heads/main' && github.event_name == 'push' | |
| needs: build | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: Install Doxygen | |
| run: sudo apt-get install -y doxygen graphviz | |
| - name: Configure | |
| run: cmake -B build -DBUILD_DOCUMENTATION=ON | |
| - name: Build docs | |
| run: cmake --build build --target footstepplanner-doc || echo "Doxygen target not yet configured, skipping" |