ci: Add a workflow that use Pixi and remove conda workflow

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

@@ -1,4 +1,4 @@
-name: CI - OSX/Linux via Conda
+name: CI - MacOS/Linux/Windows via Pixi
 
 on:
   schedule:
@@ -28,8 +28,8 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  pinocchio-conda:
-    name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda
+  pinocchio-pixi:
+    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }}
     runs-on: ${{ matrix.os }}
     env:
       CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
@@ -41,20 +41,32 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, macos-latest]
+        os: [ubuntu-latest, macos-latest, macos-13]
+        environment: [all, all-py39]
         build_type: [Release, Debug]
-        python-version: ['3.8', '3.12']
 
         include:
+          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
           - os: ubuntu-latest
             BUILD_ADVANCED_TESTING: OFF
-          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
           - os: macos-latest
             BUILD_ADVANCED_TESTING: OFF
+          - os: macos-13
+            BUILD_ADVANCED_TESTING: OFF
+          - os: windows-latest
+            environment: all
+            build_type: Release
+            BUILD_ADVANCED_TESTING: OFF
+          - os: windows-latest
+            environment: all-clang-cl
+            build_type: Release
+            BUILD_ADVANCED_TESTING: OFF
+
 
     steps:
       # extract branch name or checkout devel branch for scheduled events
       - name: Get branch name or checkout devel
+        shell: bash -el {0}
         run: |
           if [ "${{ github.event_name }}" == "schedule" ]; then
             echo "BRANCH_NAME=devel" >> $GITHUB_ENV
@@ -71,18 +83,16 @@ jobs:
       - uses: actions/cache@v4
         with:
           path: .ccache
-          save-always: true
           key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }}
           restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-
 
-      - uses: conda-incubator/setup-miniconda@v3
+      - uses: prefix-dev/setup-[email protected]
         with:
-          activate-environment: pinocchio-linux
-          auto-update-conda: true
-          environment-file: .github/workflows/conda/environment_macos_linux.yml
-          python-version: ${{ matrix.python-version }}
-          auto-activate-base: false
+          pixi-version: v0.33.0
+          cache: true
+          environments: ${{ matrix.environment }}
 
+      # Avoid filling all disk space with debug symbols
       - name: Setup CMAKE_TOOLCHAIN_FILE
         if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug')
         run: |
@@ -99,38 +109,31 @@ jobs:
             await script({github, context, core})
           result-encoding: string
 
-      - name: Build Pinocchio
+      - name: Build Pinocchio [MacOS/Linux/Windows]
         shell: bash -el {0}
+        env:
+          CMAKE_BUILD_PARALLEL_LEVEL: 2
+          PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
         run: |
-          conda list
-          echo $CONDA_PREFIX
-
-          mkdir build
-          cd build
-
-          cmake .. \
-            -G "Ninja" \
-            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
-            -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
-            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          # Launch configure but overwrite default options
+          pixi run -e ${{ matrix.environment }} configure \
             -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
             ${{ steps.get_labels.outputs.cmakeFlags }}
-          cmake --build . -j2
-          ctest --output-on-failure
-          cmake --install .
+          pixi run -e ${{ matrix.environment }} cmake --build build --target all
+          pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure
+          pixi run -e ${{ matrix.environment }} cmake --install build
 
       - name: Uninstall Pinocchio
         shell: bash -el {0}
         run: |
-          cd build
-          cmake --build . --target uninstall
+          cmake --build build --target uninstall
 
   check:
     if: always()
-    name: check-macos-linux-conda
+    name: check-macos-linux-windows-pixi
 
     needs:
-      - pinocchio-conda
+      - pinocchio-pixi
 
     runs-on: Ubuntu-latest
 

.github/workflows/scripts/get_compilation_flags.js

@@ -1,102 +1,117 @@
-// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master
-module.exports = async ({github, context, core}) => {
-    const getPullRequestNumber = (ref) => {
-        core.debug(`Parsing ref: ${ref}`);
-        // This assumes that the ref is in the form of `refs/pull/:prNumber/merge`
-        const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1');
-        return parseInt(prNumber, 10);
+// Create the default CMakeOptions
+function CMakeOptions() {
+  this.BUILD_WITH_COLLISION_SUPPORT = "OFF";
+  this.BUILD_WITH_CASADI_SUPPORT = "OFF";
+  this.BUILD_WITH_AUTODIFF_SUPPORT = "OFF";
+  this.BUILD_WITH_EXTRA_SUPPORT = "OFF";
+  this.BUILD_WITH_CODEGEN_SUPPORT = "OFF";
+  this.BUILD_WITH_OPENMP_SUPPORT = "OFF";
+  this.BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT = "OFF";
+  this.INSTALL_DOCUMENTATION = "ON";
+  this.GENERATE_PYTHON_STUBS = "ON";
+  this.BUILD_WITH_ACCELERATE_SUPPORT = "OFF";
+  this.BUILD_WITH_SDF_SUPPORT = "OFF";
+}
+
+// Return an object with an association between labels and
+// options that should be set to ON
+function makeLabelToOptions() {
+  const os = process.env.RUNNER_OS;
+  if(os == "Windows") {
+    return {
+      build_all: [
+        'BUILD_WITH_COLLISION_SUPPORT',
+        'BUILD_WITH_CASADI_SUPPORT',
+        'BUILD_WITH_AUTODIFF_SUPPORT',
+        'BUILD_WITH_EXTRA_SUPPORT',
+        'BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT',
+        'BUILD_WITH_SDF_SUPPORT'
+      ],
+      build_collision: ['BUILD_WITH_COLLISION_SUPPORT'],
+      build_casadi: ['BUILD_WITH_CASADI_SUPPORT'],
+      build_autodiff: ['BUILD_WITH_AUTODIFF_SUPPORT'],
+      build_extra: ['BUILD_WITH_EXTRA_SUPPORT'],
+      build_codegen: [],
+      build_openmp: [],
+      build_mpfr: ['BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT'],
+      build_sdf: ['BUILD_WITH_SDF_SUPPORT'],
+      build_accelerate: ['BUILD_WITH_ACCELERATE_SUPPORT']
+    };
+  } else {
+    return {
+      build_all: [
+        'BUILD_WITH_COLLISION_SUPPORT',
+        'BUILD_WITH_CASADI_SUPPORT',
+        'BUILD_WITH_AUTODIFF_SUPPORT',
+        'BUILD_WITH_EXTRA_SUPPORT',
+        'BUILD_WITH_CODEGEN_SUPPORT',
+        'BUILD_WITH_OPENMP_SUPPORT',
+        'BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT',
+        'BUILD_WITH_SDF_SUPPORT'
+      ],
+      build_collision: ['BUILD_WITH_COLLISION_SUPPORT'],
+      build_casadi: ['BUILD_WITH_CASADI_SUPPORT'],
+      build_autodiff: ['BUILD_WITH_AUTODIFF_SUPPORT'],
+      build_extra: ['BUILD_WITH_EXTRA_SUPPORT'],
+      build_codegen: ['BUILD_WITH_CODEGEN_SUPPORT'],
+      build_openmp: ['BUILD_WITH_OPENMP_SUPPORT'],
+      build_mpfr: ['BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT'],
+      build_sdf: ['BUILD_WITH_SDF_SUPPORT'],
+      build_accelerate: ['BUILD_WITH_ACCELERATE_SUPPORT']
     };
+  }
+}
+
+function getPullRequestNumber(ref) {
+  // This assumes that the ref is in the form of `refs/pull/:prNumber/merge`
+  const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1');
+  return parseInt(prNumber, 10);
+}
+
+// Get activated labels
+async function getLabelNames(github, context) {
+  const {LABELS} = process.env;
 
+  if(LABELS) {
+    return [LABELS];
+  } else {
     const prNumber = context.issue.number || getPullRequestNumber(context.ref);
 
-    let cmakeFlags = '';
-    // get os process is run on
-    const os = process.env.RUNNER_OS;
-    var labelFlags;
-    if(os == "Windows")
-    {
-        labelFlags = {
-            build_all: [
-                ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-                ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-                ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-                ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-                ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-                ' -DINSTALL_DOCUMENTATION=ON',
-                ' -DGENERATE_PYTHON_STUBS=ON',
-                ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF',
-                ' -DBUILD_WITH_SDF_SUPPORT=ON'
-            ],
-            build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-            build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-            build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-            build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-            build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-            build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON',
-            build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
-        };
-    }
-    else
-    {
-        labelFlags = {
-            build_all: [
-                ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-                ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-                ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-                ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-                ' -DBUILD_WITH_OPENMP_SUPPORT=ON',
-                ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-                ' -DINSTALL_DOCUMENTATION=ON',
-                ' -DBUILD_WITH_CODEGEN_SUPPORT=ON',
-                ' -DGENERATE_PYTHON_STUBS=ON',
-                ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF',
-                ' -DBUILD_WITH_SDF_SUPPORT=ON'
-            ],
-            build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-            build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-            build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-            build_codegen: ' -DBUILD_WITH_CODEGEN_SUPPORT=ON',
-            build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-            build_openmp: ' -DBUILD_WITH_OPENMP_SUPPORT=ON',
-            build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-            build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON',
-            build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
-        };
+    if(isNaN(prNumber)) {
+      return [];
     }
 
-    // Get the GitHub event name that triggered the workflow
-    const {LABELS} = process.env;
-    var labelNames;
-    if(LABELS)
-    {
-        labelNames=[LABELS];
-    }
-    else
-    {
-        if(isNaN(prNumber))
-        {
-            core.setOutput("cmakeFlags", cmakeFlags);
-            return;
-        }
+    const { data } = await github.rest.pulls.get({
+        owner: context.repo.owner,
+        repo: context.repo.repo,
+        pull_number: prNumber,
+    });
+    return data.labels.map(label => label.name);
+  }
+}
 
-        const { data } = await github.rest.pulls.get({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            pull_number: prNumber,
-        });
-        labelNames = data.labels.map(label => label.name);
+// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master
+module.exports = async ({github, context, core}) => {
+  const labelToOptions = makeLabelToOptions();
+  const labelNames = await getLabelNames(github, context);
+  let options = new CMakeOptions();
+
+  // Turn CMake options ON
+  for (let label of labelNames) {
+    if (labelToOptions[label]) {
+      for (let x of labelToOptions[label]) {
+        options[x] = "ON";
+      }
     }
+  }
 
-    labelNames.forEach(label => {
-        if (labelFlags[label]) {
-            if (Array.isArray(labelFlags[label])) {
-                cmakeFlags += labelFlags[label].join(' ');
-            } else {
-                cmakeFlags += labelFlags[label];
-            }
-        }
-    });
-    console.log(cmakeFlags);
-    core.setOutput("cmakeFlags", cmakeFlags);
-    return;
+  // Transform options object into command line output
+  let cmakeFlags = '';
+  for (let [k, v] of Object.entries(options)) {
+    cmakeFlags += `-D${k}=${v} `;
+  }
+
+  console.log(cmakeFlags);
+  core.setOutput("cmakeFlags", cmakeFlags);
+  return;
 }