run_casadi_tests.yml

name: Run the Casadi tests

on: [pull_request]

env:
  BUILD_FOLDER: build
  EXAMPLES_FOLDER: examples

jobs:
  build:
    strategy:
      matrix:
        os: [ubuntu-latest, macos-13, windows-latest]
        include:
          - os: ubuntu-latest
            label: linux-64
            prefix: /usr/share/miniconda3/envs/biorbd_casadi
          # - os: macos-latest
          #   label: osx-arm64
          #   prefix: /Users/runner/miniconda3/envs/biorbd_casadi
          - os: macos-13
            label: osx-intel
            prefix: /Users/runner/miniconda3/envs/biorbd_casadi
          - os: windows-latest
            label: win-64
            prefix: C:\Miniconda3\envs\biorbd_casadi
    name: ${{ matrix.label }}
    runs-on: ${{ matrix.os }}
    defaults:
      run:
        shell: bash -l {0}
    steps:
      - name: Checkout code
        uses: actions/checkout@v4
      
      - name: Get number of CPU cores
        uses: SimenB/github-actions-cpu-cores@v1
        id: cpu-cores

      - name: Setup environment
        uses: conda-incubator/setup-miniconda@v3
        with:
          miniforge-version: latest
          activate-environment: biorbd_casadi
          environment-file: environment_casadi.yml
        
      - name: Print conda info
        run: | 
          conda info
          conda list
          
      - name: Setup Linux dependencies
        run:   |
         sudo apt update
         sudo apt install libstdc++-11-dev
        if: matrix.label == 'linux-64'
        
      - name: Install extra common dependencies
        run: | 
          conda install cmake git pkgconfig swig pytest -cconda-forge
          conda list
          git submodule update --init --recursive

      - name: Build biorbd UNIX
        run: |
          BIORBD_FOLDER=`pwd`
          CONDA_ENV_PATH=$CONDA/envs/biorbd_casadi
          mkdir -p $BIORBD_FOLDER/$BUILD_FOLDER
          cd $BIORBD_FOLDER/$BUILD_FOLDER
          cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Casadi" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_PYTHON3=ON ..
          make install -j${{ steps.cpu-cores.outputs.count }}
          cd $BIORBD_FOLDER
        if: matrix.label != 'win-64'

      - name: Run tests UNIX
        run: |
          BIORBD_FOLDER=`pwd`
          cd $BIORBD_FOLDER/$BUILD_FOLDER/test
          ./biorbd_casadi_tests
          cd $BIORBD_FOLDER
        if: matrix.label != 'win-64'

      - name: Test installed version on UNIX
        run: |
          BIORBD_FOLDER=`pwd`
          CONDA_ENV_PATH=$CONDA/envs/biorbd_casadi
          cd $BIORBD_FOLDER/$EXAMPLES_FOLDER/cpp_casadi_installed
          mkdir -p $BUILD_FOLDER
          cd $BUILD_FOLDER
          cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DCMAKE_BUILD_TYPE=Release ..
          make -j${{ steps.cpu-cores.outputs.count }}
          ./forwardDynamicsExample
          cd $BIORBD_FOLDER
        if: matrix.label != 'win-64'
  
      - name: Build biorbd WINDOWS
        run: |
          BIORBD_FOLDER=`pwd`
          CONDA_ENV_PATH=$CONDA/envs/biorbd_casadi
          mkdir -p $BUILD_FOLDER
          cd $BUILD_FOLDER
          cmake -G"Visual Studio 17 2022" -Ax64 -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Casadi" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_PASSIVE_TORQUES=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_PYTHON3=ON ..
          cmake --build . --config Release --target install -j${{ steps.cpu-cores.outputs.count }}
          cd $BIORBD_FOLDER
        if: matrix.label == 'win-64'

      - name: Run tests WINDOWS
        run: |
          BIORBD_FOLDER=`pwd`
          cd $BIORBD_FOLDER/$BUILD_FOLDER/test
          cp Release/biorbd_casadi_tests.exe .
          ./biorbd_casadi_tests.exe
          cd $BIORBD_FOLDER
        if: matrix.label == 'win-64'

      - name: Test installed version on WINDOWS
        run: |
          BIORBD_FOLDER=`pwd`
          CONDA_ENV_PATH=$CONDA/envs/biorbd_casadi
          cd $BIORBD_FOLDER/$EXAMPLES_FOLDER/cpp_casadi_installed
          mkdir -p $BUILD_FOLDER
          cd $BUILD_FOLDER
          cmake -G"Visual Studio 17 2022" -Ax64 -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DCMAKE_BUILD_TYPE=Release ..
          cmake --build . --config Release -j${{ steps.cpu-cores.outputs.count }}
          cp Release/forwardDynamicsExample.exe .
          ./forwardDynamicsExample.exe
          cd $BIORBD_FOLDER
        if: matrix.label == 'win-64'

      - name: Run python binder tests 
        run: |
          BIORBD_FOLDER=`pwd`
          cd $BIORBD_FOLDER/$BUILD_FOLDER/test/binding/python3
          pytest .
          cd $BIORBD_FOLDER

      - name: Test installed version of python
        run: | 
          BIORBD_FOLDER=`pwd`
          cd
          python -c "import biorbd_casadi"
          cd $BIORBD_FOLDER