Backport GitHub Actions CI (#259)

* Add GitHub Actions * Add Windows Check * Fix wrong os selection * Add XCode version * Upgrade GCC Version * Make GCC match Ubuntu name * Do not fail everyone when one failed * More checks on ccache * Do not expose GenericValue on Windows * Fix BetweenFactor for Windows * Update * Add Python CI * Typo * Add note about GENERICVALUE_VISIBILITY * Fix Windows Boost * Change substitution scheme to PowerShell * Fix the spurious error of the Point3 default constructor * Separate builds to allow easier restarts * Fix uninitialized variable usage * Change of policy, only build python stuff, mac and win on PRs * Further separate the Python tests
2020-04-29 13:49:52 -04:00 · 2020-04-29 13:49:52 -04:00 · d0724a77bb
parent 2f0e76fab3
commit d0724a77bb
9 changed files with 413 additions and 8 deletions
--- a/.github/workflows/build-cython.yml
+++ b/.github/workflows/build-cython.yml
@ -0,0 +1,96 @@
+name: Cython CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.python_version }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      PYTHON_VERSION: ${{ matrix.python_version }}
+      WRAPPER: ${{ matrix.wrapper }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        python_version: [3]
+        wrapper: [cython]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+          sudo apt-get -y upgrade
+          
+          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .travis.python.sh
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .travis.python.sh
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@ -0,0 +1,71 @@
+name: CI Linux
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON, OFF]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+          sudo apt-get -y upgrade
+
+          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .travis.sh -t
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@ -0,0 +1,51 @@
+name: CI macOS
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON, OFF]
+        include:
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .travis.sh -t
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@ -0,0 +1,96 @@
+name: Python CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.python_version }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      PYTHON_VERSION: ${{ matrix.python_version }}
+      WRAPPER: ${{ matrix.wrapper }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        python_version: [3]
+        wrapper: [pybind]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+          sudo apt-get -y upgrade
+          
+          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .travis.python.sh
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .travis.python.sh
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@ -0,0 +1,75 @@
+name: CI Windows
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          windows-2016-cl,
+          windows-2019-cl,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON, OFF]
+        include:
+          - name: windows-2016-cl
+            os: windows-2016
+            compiler: cl
+
+          - name: windows-2019-cl
+            os: windows-2019
+            compiler: cl
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Windows)
+        if: runner.os == 'Windows'
+        shell: powershell
+        run: |
+          Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
+          scoop install ninja --global
+          if ("${{ matrix.compiler }}".StartsWith("clang")) {
+            scoop install llvm --global
+          }
+          if ("${{ matrix.compiler }}" -eq "gcc") {
+            # Chocolatey GCC is broken on the windows-2019 image.
+            # See: https://github.com/DaanDeMeyer/doctest/runs/231595515
+            # See: https://github.community/t5/GitHub-Actions/Something-is-wrong-with-the-chocolatey-installed-version-of-gcc/td-p/32413
+            scoop install gcc --global
+            echo "::set-env name=CC::gcc"
+            echo "::set-env name=CXX::g++"
+          } elseif ("${{ matrix.compiler }}" -eq "clang") {
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          } else {
+            echo "::set-env name=CC::${{ matrix.compiler }}"
+            echo "::set-env name=CXX::${{ matrix.compiler }}"
+          }
+          # Scoop modifies the PATH so we make the modified PATH global.
+          echo "::set-env name=PATH::$env:PATH"
+      - name: Build (Windows)
+        if: runner.os == 'Windows'
+        run: |
+          cmake -E remove_directory build
+          echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}"
+          cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib"
+          cmake --build build --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable
+          cmake --build build --config ${{ matrix.build_type }} --target wrap
+          cmake --build build --config ${{ matrix.build_type }} --target check.base
+          cmake --build build --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build --config ${{ matrix.build_type }} --target check.linear
--- a/.travis.sh
+++ b/.travis.sh
@ -71,7 +71,7 @@ function configure()
 function finish ()
 {
  # Print ccache stats
-  ccache -s
+  [ -x "$(command -v ccache)" ] && ccache -s

  cd $SOURCE_DIR
 }
--- a/cython/gtsam/utils/visual_data_generator.py
+++ b/cython/gtsam/utils/visual_data_generator.py
@ -30,8 +30,8 @@ class GroundTruth:

    def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4):
        self.K = K
-        self.cameras = [Pose3()] * nrCameras
-        self.points = [Point3()] * nrPoints
+        self.cameras = [gtsam.Pose3()] * nrCameras
+        self.points = [gtsam.Point3(0, 0, 0)] * nrPoints

    def print_(self, s=""):
        print(s)
@ -99,10 +99,10 @@ def generate_data(options):
    r = 40
    for i in range(options.nrCameras):
        theta = i * 2 * np.pi / options.nrCameras
-        t = Point3(r * np.cos(theta), r * np.sin(theta), height)
-        truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t,
-                                                       Point3(),
-                                                       Point3(0, 0, 1),
+        t = gtsam.Point3(r * np.cos(theta), r * np.sin(theta), height)
+        truth.cameras[i] = gtsam.SimpleCamera.Lookat(t,
+                                                     gtsam.Point3(0, 0, 0),
+                                                     gtsam.Point3(0, 0, 1),
                                                     truth.K)
        # Create measurements
        for j in range(nrPoints):
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@ -30,6 +30,14 @@
 #include <iostream>
 #include <typeinfo> // operator typeid

+#ifdef _WIN32
+#define GENERICVALUE_VISIBILITY
+#else
+// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
+// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
+#define GENERICVALUE_VISIBILITY GTSAM_EXPORT
+#endif
+
 namespace gtsam {

 /**
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@ -21,6 +21,14 @@
 #include <gtsam/base/Lie.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>

+#ifdef _WIN32
+#define BETWEENFACTOR_VISIBILITY
+#else
+// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
+// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
+#define BETWEENFACTOR_VISIBILITY GTSAM_EXPORT
+#endif
+
 namespace gtsam {

  /**