c_test_blasfeo_reference.yml

name: Test Build and C tests with BLASFEO REFERENCE

on:
  push:
    branches-ignore:
      - 'doc*'
      - 'wip*'
  pull_request:
    branches:
      - '*'


env:
  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
  BUILD_TYPE: Release
  ACADOS_UNIT_TESTS: ON
  ACADOS_PYTHON: OFF
  ACADOS_OCTAVE: OFF
  ACADOS_WITH_OSQP: ON
  ACADOS_WITH_QPOASES: ON
  ACADOS_WITH_DAQP: ON
  ACADOS_WITH_QPDUNES: ON
  ACADOS_ON_CI: ON

jobs:
  full_build:
    # The CMake configure and build commands are platform agnostic and should work equally
    # well on Windows or Mac.  You can convert this to a matrix build if you need
    # cross-platform coverage.
    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
    runs-on: ubuntu-20.04

    steps:
    - uses: actions/checkout@v2
      with:
        submodules: 'recursive'

    # To get checks on Pull requests, see https://github.com/LouisBrunner/checks-action
    # - uses: LouisBrunner/checks-action@v1.1.1
    #   if: always()
    #   with:
    #     token: ${{ secrets.GITHUB_TOKEN }}
    #     name: Test Full Build
    #     conclusion: ${{ job.status }}
    #     # output: |
    #     #   {"summary":${{ steps.test.outputs.summary }}}

    - name: Create Build Environment
      # Some projects don't allow in-source building, so create a separate build directory
      # We'll use this as our working directory for all subsequent commands
      working-directory: ${{runner.workspace}}
      run: cmake -E make_directory ${{runner.workspace}}/build


    - name: Install Eigen (C test dependency)
      working-directory: ${{runner.workspace}}/acados
      shell: bash
      # TODO: cache
      run: ./ci/shared/install_eigen.sh


    - name: Configure CMake
      # Use a bash shell so we can use the same syntax for environment variable
      # access regardless of the host operating system
      shell: bash
      working-directory: ${{runner.workspace}}/build
      # Note the current convention is to use the -S and -B options here to specify source
      # and build directories, but this is only available with CMake 3.13 and higher.
      # The CMake binaries on the Github Actions machines are (as of this writing) 3.12
      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DACADOS_WITH_QPOASES=$ACADOS_WITH_QPOASES -DACADOS_WITH_DAQP=$ACADOS_WITH_DAQP  -DACADOS_WITH_QPDUNES=$ACADOS_WITH_QPDUNES -DACADOS_WITH_OSQP=$ACADOS_WITH_OSQP -DACADOS_PYTHON=$ACADOS_PYTHON -DACADOS_UNIT_TESTS=$ACADOS_UNIT_TESTS -DACADOS_OCTAVE=$ACADOS_OCTAVE -DLA=REFERENCE


    - name: Build & Install
      working-directory: ${{runner.workspace}}/build
      shell: bash
      run: |
        cmake --build . --config $BUILD_TYPE
        make install -j4

    - name: Export Paths Lib
      working-directory: ${{runner.workspace}}/acados
      shell: bash
      run: |
        echo "ACADOS_SOURCE_DIR=$(pwd)" >> $GITHUB_ENV
        echo "ACADOS_INSTALL_DIR=$(pwd)" >> $GITHUB_ENV
        echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$(pwd)/lib" >> $GITHUB_ENV
    - name: Run CMake tests (ctest)
      working-directory: ${{runner.workspace}}/build
      shell: bash
      # Execute tests defined by the CMake configuration.
      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
      run: |
        echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
        ./../acados/.github/linux/run_tests.sh