add CI #1
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| name: MiniSolver CI Pipeline | |
| # Trigger mechanism: When code is pushed to the main branch, or a Pull Request is submitted | |
| on: | |
| push: | |
| branches: [ "main", "master" ] | |
| pull_request: | |
| branches: [ "main", "master" ] | |
| # Allow manual trigger on GitHub Actions page | |
| workflow_dispatch: | |
| jobs: | |
| build-and-test: | |
| name: ${{ matrix.os }} - ${{ matrix.backend }} - ${{ matrix.build_type }} | |
| runs-on: ${{ matrix.os }} | |
| # Matrix strategy: Automatically combine different operating systems, backends, and build types for parallel testing | |
| strategy: | |
| fail-fast: false # If one task fails, do not immediately cancel other tasks | |
| matrix: | |
| os: [ubuntu-latest] # Can expand to windows-latest, macos-latest | |
| build_type: [Release, Debug] | |
| backend: [Eigen, CustomMatrix] | |
| include: | |
| # Set CMake parameters for different backends | |
| - backend: Eigen | |
| cmake_args: "-DUSE_EIGEN=ON" | |
| - backend: CustomMatrix | |
| cmake_args: "-DUSE_CUSTOM_MATRIX=ON" | |
| steps: | |
| # 1. Pull code | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| # 2. Prepare Python environment (for code generation) | |
| - name: Set up Python 3.x | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| cache: 'pip' # Cache pip dependencies to speed up build | |
| # 3. Install dependencies (SymPy & System Tools) | |
| - name: Install Dependencies | |
| run: | | |
| # Update apt and install build tools | |
| sudo apt-get update | |
| sudo apt-get install -y cmake g++ make | |
| # Install Python dependencies (SymPy) | |
| pip install sympy | |
| # 4. Execute code generation (simulate build.sh logic) | |
| - name: Generate Model Code | |
| run: | | |
| echo ">> Generating C++ headers from Python models..." | |
| # Set PYTHONPATH to find minisolver module | |
| export PYTHONPATH=$PYTHONPATH:$(pwd)/python | |
| # Run vehicle model generation script | |
| python3 examples/01_car_tutorial/generate_model.py | |
| # Run advanced bicycle model generation script | |
| python3 examples/02_advanced_bicycle/generate_advanced_model.py | |
| # 5. Configure CMake | |
| - name: Configure CMake | |
| run: | | |
| # Create build directory and configure | |
| # ${{ matrix.cmake_args }} will automatically switch backend definition based on current matrix task | |
| cmake -B build \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| ${{ matrix.cmake_args }} | |
| # 6. Compile project | |
| - name: Build Project | |
| run: | | |
| # Use multi-core compilation to speed up | |
| cmake --build build --config ${{ matrix.build_type }} -j$(nproc) | |
| # 7. Run unit tests | |
| - name: Run Unit Tests | |
| working-directory: build | |
| run: | | |
| echo ">> Running GTest Suite..." | |
| # --output-on-failure: Output detailed logs when tests fail for debugging | |
| ctest --output-on-failure -C ${{ matrix.build_type }} | |
| # 8. (Optional) Run Benchmark to ensure performance does not drop significantly | |
| # Only run in Release mode to avoid misleading performance data in Debug mode | |
| - name: Run Benchmark Check | |
| if: matrix.build_type == 'Release' | |
| working-directory: build | |
| run: | | |
| if [ -f "./tools/benchmark_suite/benchmark_suite" ]; then | |
| echo ">> Running Benchmark Suite..." | |
| ./tools/benchmark_suite/benchmark_suite | |
| else | |
| echo "Benchmark executable not found, skipping." | |
| fi |