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[ci] Add github ci workflow to compile plugin using SOFA master (#66)
* [ci] Add github ci workflow to compile plugin using SOFA master * [algorithm] small change to fix ci * [ci] Changes in CMakeLists.txt * [ci] Update ci.yml - remove debugging prints --------- Co-authored-by: Themis Skamagkis <[email protected]> Co-authored-by: Themis Skamagkis <[email protected]>
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‎.github/workflows/ci.yml‎

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name: CI
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on:
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push:
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jobs:
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build-and-test:
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name: Run on ${{ matrix.os }} with SOFA ${{ matrix.sofa_branch }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-22.04, macos-14, windows-2022]
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sofa_branch: [master]
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steps:
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- name: Setup SOFA and environment
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id: sofa
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uses: sofa-framework/sofa-setup-action@v5
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with:
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sofa_root: ${{ github.workspace }}/sofa
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sofa_version: ${{ matrix.sofa_branch }}
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sofa_scope: 'standard'
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- name: Checkout source code
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uses: actions/checkout@v2
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with:
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path: ${{ env.WORKSPACE_SRC_PATH }}
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- name: Build and install
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id: build-install
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shell: bash
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run: |
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if [[ "$RUNNER_OS" == "Windows" ]]; then
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cmd //c "${{ steps.sofa.outputs.vs_vsdevcmd }} \
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&& cd /d $WORKSPACE_BUILD_PATH \
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&& cmake \
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-GNinja \
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-DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake" \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
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../src \
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&& ninja install"
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else
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cd "$WORKSPACE_BUILD_PATH"
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ccache -z
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cmake \
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-GNinja \
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-DCMAKE_C_COMPILER_LAUNCHER=ccache \
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-DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
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-DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
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../src
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ninja install
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echo ${CCACHE_BASEDIR}
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ccache -s
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fi
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- name: Sanitize artifact name
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id: sanitize
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# This step removes special characters from the artifact name to ensure compatibility with upload-artifact
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# Characters removed: " : < > | * ? \r \n \ /
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# Spaces are replaced with underscores
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# This sanitization prevents errors in artifact creation and retrieval
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shell: pwsh
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run: |
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$originalName = "CollisionAlgorithm_${{ steps.sofa.outputs.run_branch }}_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${{ runner.os }}"
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$artifact_name = $originalName -replace '[":;<>|*?\r\n\\/]', '' -replace ' ', '_'
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echo "artifact_name=$artifact_name" >> $env:GITHUB_OUTPUT
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- name: Create artifact
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id: create-artifact
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uses: actions/[email protected]
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with:
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name: ${{ steps.sanitize.outputs.artifact_name }}
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path: ${{ env.WORKSPACE_INSTALL_PATH }}
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- name: Install artifact
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id: install-artifact
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uses: actions/[email protected]
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with:
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name: ${{ steps.sanitize.outputs.artifact_name }}
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path: ${{ env.WORKSPACE_ARTIFACT_PATH }}
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- name: Set env vars for tests
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shell: bash
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run: |
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# Set env vars for tests
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if [[ "$RUNNER_OS" == "Windows" ]]; then
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echo "$WORKSPACE_ARTIFACT_PATH/lib" >> $GITHUB_PATH
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echo "$WORKSPACE_ARTIFACT_PATH/bin" >> $GITHUB_PATH
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echo "$SOFA_ROOT/plugins/SofaPython3/bin" >> $GITHUB_PATH
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echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/bin" | tee -a $GITHUB_ENV
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else
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echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/lib" | tee -a $GITHUB_ENV
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fi
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if [[ "$RUNNER_OS" == "macOS" ]]; then
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echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV
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fi
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if [[ "$RUNNER_OS" == "Linux" ]]; then
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echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV
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fi
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deploy:
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name: Deploy artifacts
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if: always() && startsWith(github.ref, 'refs/heads/main') # we are on a branch (not a PR)
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needs: [build-and-test]
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runs-on: ubuntu-latest
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continue-on-error: true
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steps:
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- name: Get artifacts
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uses: actions/[email protected]
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with:
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path: artifacts
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- name: Zip artifacts
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shell: bash
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run: |
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cd $GITHUB_WORKSPACE/artifacts
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for artifact in *; do
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zip $artifact.zip -r $artifact/*
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done
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- name: Upload release
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uses: softprops/action-gh-release@v1
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with:
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name: ${{ github.ref_name }}
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tag_name: release-${{ github.ref_name }}
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fail_on_unmatched_files: true
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files: |
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artifacts/CollisionAlgorithm_*_Linux.zip
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artifacts/CollisionAlgorithm_*_Windows.zip
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artifacts/CollisionAlgorithm_*_macOS.zip
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‎.github/workflows/delete-workflow-runs.yml‎

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name: Delete old workflow runs
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on:
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workflow_dispatch:
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inputs:
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days:
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description: 'Days-worth of runs to keep for each workflow'
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required: true
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default: '30'
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minimum_runs:
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description: 'Minimum runs to keep for each workflow'
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required: true
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default: '6'
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delete_workflow_pattern:
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description: 'Name or filename of the workflow (if not set, all workflows are targeted)'
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required: false
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delete_workflow_by_state_pattern:
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description: 'Filter workflows by state: active, deleted, disabled_fork, disabled_inactivity, disabled_manually'
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required: true
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default: "ALL"
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type: choice
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options:
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- "ALL"
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- active
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- deleted
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- disabled_inactivity
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- disabled_manually
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delete_run_by_conclusion_pattern:
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description: 'Remove runs based on conclusion: action_required, cancelled, failure, skipped, success'
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required: true
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default: "ALL"
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type: choice
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options:
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- "ALL"
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- "Unsuccessful: action_required,cancelled,failure,skipped"
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- action_required
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- cancelled
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- failure
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- skipped
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- success
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dry_run:
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description: 'Logs simulated changes, no deletions are performed'
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required: false
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jobs:
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del_runs:
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runs-on: ubuntu-latest
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permissions:
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actions: write
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contents: read
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steps:
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- name: Delete workflow runs
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uses: Mattraks/delete-workflow-runs@v2
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with:
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token: ${{ github.token }}
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repository: ${{ github.repository }}
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retain_days: ${{ github.event.inputs.days }}
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keep_minimum_runs: ${{ github.event.inputs.minimum_runs }}
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delete_workflow_pattern: ${{ github.event.inputs.delete_workflow_pattern }}
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delete_workflow_by_state_pattern: ${{ github.event.inputs.delete_workflow_by_state_pattern }}
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delete_run_by_conclusion_pattern: >-
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${{
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startsWith(github.event.inputs.delete_run_by_conclusion_pattern, 'Unsuccessful:')
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&& 'action_required,cancelled,failure,skipped'
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|| github.event.inputs.delete_run_by_conclusion_pattern
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}}
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dry_run: ${{ github.event.inputs.dry_run }}

‎CMakeLists.txt‎

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@@ -50,7 +50,7 @@ target_link_libraries(${PROJECT_NAME}
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)
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## Install rules for the library and headers; CMake package configurations files
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set(${PROJECT_NAME}_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src")
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target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${${PROJECT_NAME}_INCLUDE_DIRS}>")
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target_include_directories(${PROJECT_NAME} PUBLIC "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
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set(${PROJECT_NAME}_INCLUDE_DIRS "include/${PROJECT_NAME}")
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target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>")
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target_include_directories(${PROJECT_NAME} PUBLIC "$<INSTALL_INTERFACE:${${PROJECT_NAME}_INCLUDE_DIRS}>")
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sofa_create_package_with_targets(PACKAGE_NAME ${PROJECT_NAME} PACKAGE_VERSION 0.1 TARGETS ${PROJECT_NAME} INCLUDE_INSTALL_DIR ${${PROJECT_NAME}_INCLUDE_DIRS})

‎src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h‎

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@@ -136,9 +136,9 @@ class InsertionAlgorithm : public BaseAlgorithm
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const bool isProjective = d_projective.getValue();
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const SReal punctureForceThreshold = d_punctureForceThreshold.getValue();
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for (const auto& itTip : *l_tipGeom)
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for (auto itTip = l_tipGeom->begin(); itTip != l_tipGeom->end(); itTip++)
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{
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BaseProximity::SPtr tipProx = createTipProximity(itTip.element());
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BaseProximity::SPtr tipProx = createTipProximity(itTip->element());
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if (!tipProx) continue;
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const BaseProximity::SPtr surfProx = findClosestProxOnSurf(
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tipProx, l_surfGeom.get(), projectOnSurf, getFilterFunc());
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// 1.2 If not, create a proximity pair for the tip-surface collision
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if (isProjective)
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{
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tipProx = projectOnTip(surfProx->getPosition(), itTip.element()).prox;
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tipProx = projectOnTip(surfProx->getPosition(), itTip->element()).prox;
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if (!tipProx) continue;
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tipProx->normalize();
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}
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auto createShaftProximity =
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Operations::CreateCenterProximity::Operation::get(l_shaftGeom->getTypeInfo());
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auto projectOnShaft = Operations::Project::Operation::get(l_shaftGeom);
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for (const auto& itShaft : *l_shaftGeom)
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for (auto itShaft = l_shaftGeom->begin(); itShaft != l_shaftGeom->end(); itShaft++)
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{
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BaseProximity::SPtr shaftProx = createShaftProximity(itShaft.element());
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BaseProximity::SPtr shaftProx = createShaftProximity(itShaft->element());
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if (!shaftProx) continue;
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const BaseProximity::SPtr surfProx = findClosestProxOnSurf(
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shaftProx, l_surfGeom.get(), projectOnSurf, getFilterFunc());
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// 1.2 If not, create a proximity pair for the tip-surface collision
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if (d_projective.getValue())
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{
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shaftProx = projectOnShaft(surfProx->getPosition(), itShaft.element()).prox;
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shaftProx = projectOnShaft(surfProx->getPosition(), itShaft->element()).prox;
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if (!shaftProx) continue;
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shaftProx->normalize();
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}

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