apriltag/.github/workflows/cross-compilation.yml at 1fa4e1a5bb358eb99d3d4fbb11751eb2e961388d · AprilRobotics/apriltag · GitHub

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name: Cross compilation

on:
  push:
    branches: [ "master" ]
  pull_request:
    branches: [ "master" ]
  workflow_dispatch:

jobs:
  # Use mingw to cross compile apriltag and its tests on linux
  build:
    runs-on: ubuntu-latest

    strategy:
      matrix:
        shared_libs: ['ON','OFF']

    steps:
    # Install required packages to build for windows
    - name: install dependencies
      run: |
        sudo apt update
        sudo apt install -y --no-install-recommends cmake ninja-build gcc-mingw-w64-x86-64

    # Get the sources
    - uses: actions/checkout@v4

    # Save the "build/" folder path
    - name: Set reusable strings
      id: strings
      shell: bash
      run: |
        echo "build-output-dir=$GITHUB_WORKSPACE/build" >> "$GITHUB_OUTPUT"

    # Configure cmake
    # CMAKE_SYSTEM_NAME=Windows is needed else it will produce libapriltag.so instead of .dll
    - name: Configure CMake
      run: >
        cmake -B ${{ steps.strings.outputs.build-output-dir }}
        -G Ninja
        -D CMAKE_SYSTEM_NAME=Windows
        -D CMAKE_C_COMPILER=/usr/bin/x86_64-w64-mingw32-gcc
        -D CMAKE_BUILD_TYPE=Release
        -D BUILD_SHARED_LIBS=${{ matrix.shared_libs }}
        -D BUILD_TESTING=ON
        -S $GITHUB_WORKSPACE

    # Build apriltag
    - name: Build
      run: cmake --build ${{ steps.strings.outputs.build-output-dir }}

    # In case of shared lib, copy the .dll file in the test directory
    - name: add DLL to test folder
      if: matrix.shared_libs == 'ON'
      working-directory: ${{ steps.strings.outputs.build-output-dir }}
      run: |
        cp *apriltag.dll test/

    # Upload the "build/" directory as artifact
    - name: Upload build artifact
      uses: actions/upload-artifact@v4
      with:
        name: cross-compilation-build-sharedlib-${{ matrix.shared_libs }}
        path: ${{ steps.strings.outputs.build-output-dir }}

  # On windows, retrieve the cross compiled build and run the tests
  test:
    needs: build
    runs-on: windows-latest

    strategy:
      matrix:
        shared_libs: ['ON','OFF']

    steps:
    - uses: actions/checkout@v4

    # Save the "build/" folder path
    - name: Set reusable strings
      id: strings
      shell: bash
      run: |
        echo "build-output-dir=$GITHUB_WORKSPACE/build" >> "$GITHUB_OUTPUT"

    # Download the "build/" directory
    - name: Download build artifact
      uses: actions/download-artifact@v4
      with:
        name: cross-compilation-build-sharedlib-${{ matrix.shared_libs }}
        path: ${{ steps.strings.outputs.build-output-dir }}

    # Change the tests pathes so they match the windows ones instead of the linux ones
    - name: Change test pathes
      run: |
        (Get-Content ${{ steps.strings.outputs.build-output-dir }}/test/CTestTestfile.cmake) -replace '/home/runner/work/apriltag/apriltag', $PWD.Path.Replace('\', '/') | Set-Content ${{ steps.strings.outputs.build-output-dir }}/test/CTestTestfile.cmake

    # Run the tests
    - name: Test
      working-directory: ${{ steps.strings.outputs.build-output-dir }}
      run: |
        ctest --no-tests=error --output-on-failure --verbose