chore(workflow): run CI on both x86_64 and aarch64 Linux (#39)

* chore(workflow): run CI on both x86_64 and aarch64 Linux

* fix mujoco downloading

* refactor around matrix & specify `C_INCLUDE_PATH`, `CPLUS_INCLUDE_PATH`

* considering cross-building on ubuntu-latest = x86_64

* when aarch64 `export BINDGEN_EXTRA_CLANG_ARGS=-I/usr/aarch64-linux-gnu/include`

* when aarch64 install g++-aarch64-linux-gnu

* prevent if-fail

* try `sudo dpkg --add-architecture arm64`, `:arm64` and `PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig`

* try `libglfw3` apt package

* fill missing `:arm64`

* try source build glfw with conditional dependency libs

* try conditional cmake(\:arm64)?

* use `-DCMAKE_C(XX)?_COMPILER=aarch64-linux-gnu-g(cc|++)`

* try wayland-protocols

* set -x

* try restricting security repository to amd64

* ignore apt update error

* add ports to /etc/apt/sources.list.d/ports.list

* `:arm64` only for `*-dev`

* run `echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV` in `setup` step

* add `-DCMAKE_EXE_LINKER_FLAGS=-lm` to cmake flags

* use `-DLINK_FLAGS="-lm"`

* `="-lm"` instead of `=-lm` for `-DCMAKE_EXE_LINKER_FLAGS`

* specify ` -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF` for cmake

* retain original $PKG_CONFIG_PATH

* improve PKG_CONFIG_PATH

* set PKG_CONFIG=aarch64-linux-gnu-pkg-config

* apt install pkg-config when aarch64

* split runner

* use needs's output for job-level if-condition

* fix around strategy

* unify tests

* remove unused comments & refine conditional filename

Author: kanarus

.github/workflows/CI.yml

@@ -13,17 +13,22 @@ jobs:
 
     strategy:
       matrix:
-        toolchain: [stable, nightly]
+        toolchain: ['stable', 'nightly']
+        arch: ['x86_64', 'aarch64']
 
     steps:
       - uses: actions/checkout@v5
 
       - run: |
           rustup update
           rustup default ${{ matrix.toolchain }}
-          rustup component add rustfmt  ### required for the build script to work ###
+          rustup target add ${{ matrix.arch }}-unknown-linux-gnu
+          rustup component add rustfmt   ### required for the build script to work ###
+          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu || :
 
       - name: check fails without MUJOCO_DIR
+        env:
+          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
         run: |
           if cargo build; then
             echo 'cargo check succeeded without mujoco, which is unexpected.'
@@ -36,12 +41,14 @@ jobs:
         run: |
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-          tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+          tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           
       - name: check succeeds with MUJOCO_DIR
+        env:
+          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
         run: |
           if cargo build; then
             echo 'cargo check succeeded with mujoco, as expected.'
@@ -50,36 +57,44 @@ jobs:
             echo "[DEBUG] bindgen.rs content:" && cat ./src/bindgen.rs
             exit 1
           fi
-  
+
   test:
-    runs-on: ubuntu-latest
-    
     strategy:
       matrix:
-        toolchain: [stable, nightly]
-
+        toolchain: ['stable', 'nightly']
+        os: ['ubuntu-24.04', 'ubuntu-24.04-arm']
+    
+    runs-on: ${{ matrix.os }}
+    
     steps:
-      - uses: actions/checkout@v4
-
-      - name: setup
+      - uses: actions/checkout@v5
+      
+      - name: setup Rust
         run: |
           rustup update
           rustup default ${{ matrix.toolchain }}
-          rustup component add rustfmt  ### required for the build script to work ###
-          mkdir -p $HOME/.mujoco
-          cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-          tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
+          rustup component add rustfmt   ### required for the build script to work ###
+          
+      - name: setup MuJoCo
+        run: |
+          if [ "${{ matrix.os }}" = 'ubuntu-24.04' ]; then
+            MUJOCO_FILENAME='mujoco-3.3.2-linux-x86_64.tar.gz'
+          elif [ "${{ matrix.os }}" = 'ubuntu-24.04-arm' ]; then
+            MUJOCO_FILENAME='mujoco-3.3.2-linux-aarch64.tar.gz'
+          fi
+          mkdir -p $HOME/.mujoco && cd $HOME/.mujoco
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/$MUJOCO_FILENAME
+          tar -xzf $MUJOCO_FILENAME
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
-      
+          
       - name: setup additional dependencies for examples
         run: |
-          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
           git clone https://github.com/glfw/glfw.git
           mkdir -p glfw/build && cd glfw/build
+          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
           cmake .. && make && sudo make install
-          
+
       - name: run tests
         run: |
           cargo test --lib