Refactor CMake with JRL CMake Modules v2

.clang-format

@@ -1,3 +1,3 @@
 BasedOnStyle: Google
 SortIncludes: false
-Standard: Cpp11
+Standard: c++17

.gersemirc

@@ -0,0 +1,4 @@
+definitions: [./CMakeLists.txt, ./unittest, ./python]
+line_length: 100
+indent: 2
+warn_about_unknown_commands: false

.github/workflows/jrl-cmakemodules.yml

@@ -5,46 +5,62 @@ on:
     branches:
       - devel
     paths-ignore:
-      - 'doc/**'
-      - '.gitlab-ci.yml'
-      - '.gitignore'
-      - '*.md'
-      - 'LICENSE'
-      - 'colcon.pkg'
-      - '.pre-commit-config.yaml'
+      - "doc/**"
+      - ".gitlab-ci.yml"
+      - ".gitignore"
+      - "*.md"
+      - "LICENSE"
+      - "colcon.pkg"
+      - ".pre-commit-config.yaml"
   pull_request:
     paths-ignore:
-      - 'doc/**'
-      - '.gitlab-ci.yml'
-      - '.gitignore'
-      - '*.md'
-      - 'LICENSE'
-      - 'colcon.pkg'
-      - '.pre-commit-config.yaml'
+      - "doc/**"
+      - ".gitlab-ci.yml"
+      - ".gitignore"
+      - "*.md"
+      - "LICENSE"
+      - "colcon.pkg"
+      - ".pre-commit-config.yaml"
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  with-submodules:
-    name: Check configuration with git submodules
+  standard-config:
+    name: Use standard configuration (fetchcontent)
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy
-      - run: cmake .
-
+      - run: sudo apt-get update && sudo apt-get install -y libboost-all-dev libeigen3-dev python3-numpy python3-scipy
+      - run: cmake -B build -S .
 
-  without-submodules:
-    name: Check configuration without git submodules
+  local-config:
+    name: Use JRL_CMAKEMODULES_SOURCE_DIR on the cmd line
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v6
         with:
-          submodules: false
-          path: eigenpy
-      - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy
-      - run: cmake -B build -S eigenpy
-      - run: grep -qvz CMAKE_PROJECT_VERSION:STATIC=0.0 build/CMakeCache.txt
+          repository: ahoarau/jrl-cmakemodules
+          ref: jrl-next
+          path: ${{ github.workspace }}/jrl-cmakemodules
+      - uses: actions/checkout@v6
+        with:
+          path: ${{ github.workspace }}/eigenpy
+      - run: sudo apt-get update && sudo apt-get install -y libboost-all-dev libeigen3-dev python3-numpy python3-scipy
+      - run: cmake -B build -S ${{ github.workspace }}/eigenpy -DJRL_CMAKEMODULES_SOURCE_DIR="${{ github.workspace }}/jrl-cmakemodules"
+
+  check:
+    if: always()
+    name: Check JRL Configs
+
+    needs:
+      - standard-config
+      - local-config
+
+    runs-on: Ubuntu-latest
+
+    steps:
+      - name: Decide whether the needed jobs succeeded or failed
+        uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.github/workflows/linux.yml

@@ -1,63 +1,90 @@
-name: CI - Linux via APT
+name: CI - Linux (APT)
 
 on:
   push:
     branches:
       - devel
     paths-ignore:
-      - 'doc/**'
-      - '.gitlab-ci.yml'
-      - '.gitignore'
-      - '*.md'
-      - 'LICENSE'
-      - 'colcon.pkg'
-      - '.pre-commit-config.yaml'
+      - "doc/**"
+      - ".gitlab-ci.yml"
+      - ".gitignore"
+      - "*.md"
+      - "LICENSE"
+      - "colcon.pkg"
+      - ".pre-commit-config.yaml"
   pull_request:
     paths-ignore:
-      - 'doc/**'
-      - '.gitlab-ci.yml'
-      - '.gitignore'
-      - '*.md'
-      - 'LICENSE'
-      - 'colcon.pkg'
-      - '.pre-commit-config.yaml'
+      - "doc/**"
+      - ".gitlab-ci.yml"
+      - ".gitignore"
+      - "*.md"
+      - "LICENSE"
+      - "colcon.pkg"
+      - ".pre-commit-config.yaml"
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  test:
-    name: "Test python ${{ matrix.python }} on ${{ matrix.ubuntu }}.04"
-    runs-on: "ubuntu-${{ matrix.ubuntu }}.04"
+  ubuntu:
+    name: CI - ${{ matrix.os }} - ${{ matrix.build_type }} (APT)
+    runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
-        python: [3]
-        ubuntu: [22, 24]
+        os: [ubuntu-22.04, ubuntu-24.04]
+        build_type: [Release, Debug]
+    env:
+      CCACHE_BASEDIR: ${{ github.workspace }}
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+      CMAKE_C_COMPILER_LAUNCHER: ccache
+      CMAKE_CXX_COMPILER_LAUNCHER: ccache
     steps:
       - uses: actions/checkout@v6
+      - name: Setup ccache
+        uses: actions/cache@v4
         with:
-          submodules: 'true'
-      - run: |
-          sudo apt-get update
-          sudo apt-get install cmake libboost-all-dev libeigen3-dev python*-numpy python*-dev python*-scipy
-          echo $(sudo apt list --installed)
-          echo $(g++ --version)
-      - run: cmake . -DPYTHON_EXECUTABLE=$(which python${{ matrix.python }}) -DBUILD_TESTING_SCIPY=ON
-      - run: make -j2
-      - run: ctest --output-on-failure
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
+          restore-keys: ccache-${{ matrix.os }}-${{ matrix.build_type }}-
+
+      - name: Update APT repositories
+        run: sudo apt-get update
+
+      - name: Install dependencies via APT
+        run: sudo apt-get install -y cmake ninja-build ccache libboost-all-dev libeigen3-dev python3-numpy python3-dev python3-scipy
+
+      - name: Clear ccache stats
+        run: ccache --show-stats --zero-stats --verbose
+
+      - name: CMake Configure
+        run: /usr/bin/cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DBUILD_TESTING_SCIPY=ON
+
+      - name: CMake Build
+        run: /usr/bin/cmake --build build --verbose --parallel 2
+
+      - name: Show ccache stats
+        run: ccache --show-stats --verbose
+
+      - name: CTest
+        run: /usr/bin/ctest --test-dir build --output-on-failure
+
+      - name: CMake Install
+        run: /usr/bin/cmake --install build --prefix install
 
   check:
     if: always()
     name: check-linux
 
     needs:
-    - test
+      - ubuntu
 
     runs-on: Ubuntu-latest
 
     steps:
-    - name: Decide whether the needed jobs succeeded or failed
-      uses: re-actors/alls-green@release/v1
-      with:
-        jobs: ${{ toJSON(needs) }}
+      - name: Decide whether the needed jobs succeeded or failed
+        uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.github/workflows/macos-linux-windows-pixi.yml

@@ -27,11 +27,11 @@ concurrency:
 
 jobs:
   eigenpy-pixi:
-    name: Standard - ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.cxx_options }} ${{ matrix.compiler }}
+    name: Pixi - ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.cxx_options }}
     runs-on: ${{ matrix.os }}
     env:
-      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
-      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_BASEDIR: ${{ github.workspace }}
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
       CCACHE_COMPRESS: true
       CCACHE_COMPRESSLEVEL: 6
       # Since pixi will install a compiler, the compiler mtime will be changed.
@@ -64,35 +64,41 @@ jobs:
 
     steps:
     - uses: actions/checkout@v6
-      with:
-        submodules: recursive
 
     - uses: actions/cache@v5
       with:
-        path: .ccache
-        key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-${{ github.sha }}
-        restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
+        restore-keys: ccache-${{ matrix.os }}-${{ matrix.build_type }}-
 
     - uses: prefix-dev/setup-pixi@v0.9.4
       with:
-        cache: true
         environments: ${{ matrix.environment }}
 
     - name: Clear ccache statistics [MacOS/Linux/Windows]
       run: |
-        pixi run -e ${{ matrix.environment }} ccache -z
+        pixi run -e ${{ matrix.environment }} ccache --show-stats --zero-stats --verbose
 
-    - name: Build EigenPy [MacOS/Linux/Windows]
+    - name: Configure EigenPy [MacOS/Linux/Windows]
       env:
-        CMAKE_BUILD_PARALLEL_LEVEL: 2
         EIGENPY_BUILD_TYPE: ${{ matrix.build_type }}
         EIGENPY_CXX_FLAGS: ${{ matrix.cxx_options }}
+      run: |
+        pixi run -e ${{ matrix.environment }} configure
+
+    - name: Build EigenPy [MacOS/Linux/Windows]
+      env:
+        CMAKE_BUILD_PARALLEL_LEVEL: 2
+      run: |
+        pixi run -e ${{ matrix.environment }} build --verbose --parallel 2
+
+    - name: Test EigenPy [MacOS/Linux/Windows]
       run: |
         pixi run -e ${{ matrix.environment }} test
 
     - name: Show ccache statistics [MacOS/Linux/Windows]
       run: |
-        pixi run -e ${{ matrix.environment }} ccache -sv
+        pixi run -e ${{ matrix.environment }} ccache --show-stats --verbose
 
   eigenpy-pixi-build:
     name: Pixi build - ${{ matrix.os }}
@@ -105,14 +111,11 @@ jobs:
 
     steps:
     - uses: actions/checkout@v6
-      with:
-        submodules: recursive
 
     - uses: prefix-dev/setup-pixi@v0.9.4
       env:
         CMAKE_BUILD_PARALLEL_LEVEL: 2
       with:
-        cache: true
         environments: test-pixi-build
 
     - name: Test package [MacOS/Linux/Windows]
@@ -125,6 +128,7 @@ jobs:
 
     needs:
     - eigenpy-pixi
+    - eigenpy-pixi-build
 
     runs-on: Ubuntu-latest
 

.github/workflows/nix.yml

@@ -11,6 +11,9 @@ concurrency:
 
 jobs:
   nix:
+    # ⚠️ temporarly disable the Nix job ⚠️
+    if: false
+
     runs-on: "${{ matrix.os }}-latest"
     strategy:
       fail-fast: false
@@ -27,7 +30,10 @@ jobs:
       - run: nix build -L ".#eigenpy${{ matrix.eigen }}"
 
   check:
-    if: always()
+    # ⚠️ temporarly disable the Nix job ⚠️
+    if: false
+    # if: always()
+
     name: check-macos-linux-nix
 
     needs:

.github/workflows/reloc.yml

@@ -35,8 +35,6 @@ jobs:
 
     steps:
     - uses: actions/checkout@v6
-      with:
-        submodules: recursive
 
     - uses: actions/cache@v5
       with:
@@ -50,10 +48,10 @@ jobs:
       run: sudo mkdir -p /RELOC/SRC && sudo chown -R $(id -un) /RELOC
 
     - name: clone in /RELOC/SRC
-      run: git -C /RELOC/SRC clone --recursive $(pwd)
+      run: git -C /RELOC/SRC clone $(pwd)
 
     - name: install dependencies
-      run: sudo apt install libboost-all-dev libeigen3-dev python-is-python3 python3-numpy python3-pip python3-scipy ccache
+      run: sudo apt-get update && sudo apt-get install -y libboost-all-dev libeigen3-dev python-is-python3 python3-numpy python3-pip python3-scipy ccache
 
     - name: update CMake
       run: pip install -U pip && pip install -U cmake