acados_bugfix/.github/workflows/c_test_blasfeo_reference.yml at main · DUT-Racing/acados_bugfix · GitHub

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name: Test Build and C tests with BLASFEO REFERENCE and OpenMP

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

env:
  BUILD_TYPE: Release
  ACADOS_UNIT_TESTS: ON
  ACADOS_OCTAVE: OFF
  ACADOS_WITH_OSQP: ON
  ACADOS_WITH_QPOASES: ON
  ACADOS_WITH_DAQP: ON
  ACADOS_WITH_QPDUNES: ON
  ACADOS_ON_CI: ON
  ACADOS_WITH_OPENMP: ON

jobs:
  full_build:
    runs-on: ubuntu-22.04

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

    - name: Create Build Environment
      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: ./.github/linux/install_eigen.sh

    - name: Configure CMake
      shell: bash
      working-directory: ${{runner.workspace}}/build
      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_UNIT_TESTS=$ACADOS_UNIT_TESTS -DACADOS_OCTAVE=$ACADOS_OCTAVE -DLA=REFERENCE -DACADOS_WITH_OPENMP=$ACADOS_WITH_OPENMP -DCMAKE_POLICY_VERSION_MINIMUM=3.5

    - 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: ${{runner.workspace}}/build
      shell: bash
      run: |
        echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
        ctest -C $BUILD_TYPE --output-on-failure -j 4 --parallel 4;