tests.yml

name: Run C++ comparison tests

on:
  workflow_dispatch:

env:
  iDynTree_TAG: 4aabb8525e95af161e916a8dfb85fbf994bb7aeb
  coinbrew_TAG: cc905f64c39ebe430dd80d28b3d17207e04bf01d
  ipopt_TAG: 641f2202f5594018ab0ebee6d1b7c6853ef83343
  MUMPS_TAG: 2fc1a186fa118eccfeb76657424d43063b67b393
  ASL_TAG: d9e058561ec67b1440761f64fa94e28a6078fe95
  HSL_TAG: 972b202b6d01c39221fe6fbe90f42779edf70e49
  matiocpp_TAG: ed9b196360b8083c3eccd3348afa7969d3a4f1fa
  dynamical_planner_TAG: 09efc88679ab7a1cd8c94485c347870be63b8ebe

jobs:
  build:
    name: 'Build'
    runs-on: ubuntu-20.04

    steps:

    - name: Display environment variables
      shell: bash
      run: env

    # Remove apt repos that are known to break from time to time
    # See https://github.com/actions/virtual-environments/issues/323
    - name: Remove broken apt repos
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    # ============
    # DEPENDENCIES
    # ============

    - name: System dependencies
      run: |
        sudo apt update

        # IPOPT dependencies
        sudo apt install make git wget tar patch dos2unix pkg-config gfortran liblapack-dev libblas-dev libopenblas-dev libmetis-dev

        # iDyntree dependencies
        sudo apt-get install build-essential cmake libeigen3-dev libxml2-dev libassimp-dev libirrlicht-dev

        #matioCpp dependencies
        sudo apt install libmatio-dev

        #FFMPEG dependencies
        sudo apt install ffmpeg libavcodec-dev libavformat-dev libavdevice-dev libavfilter-dev libswscale-dev libpostproc-dev

        #Xvfb, just to have a dummy screen
        sudo apt install xvfb

        #To zip the SavedVideos folder
        sudo apt install zip unzip

    - name: Create common build and install folder
      shell: bash -l {0}
      run: |
        cd ${GITHUB_WORKSPACE}
        mkdir cpp_ws
        cd cpp_ws
        mkdir -p build/install

    - name: Coinbrew and Ipopt fetching
      shell: bash -l {0}
      run: |
        cd ${GITHUB_WORKSPACE}/cpp_ws
        mkdir coin-or
        cd coin-or
        #coinbrew
        git clone https://github.com/coin-or/coinbrew
        cd coinbrew/
        git reset ${coinbrew_TAG} --hard
        chmod u+x coinbrew

        #Manually fetching IPOPT and ThirdParty deps
        cd ../
        git clone https://github.com/coin-or/Ipopt
        cd Ipopt/
        git checkout -b master
        git reset ${ipopt_TAG} --hard
        cd ../

        mkdir ThirdParty
        cd ThirdParty/

        #Mumps
        git clone https://github.com/coin-or-tools/ThirdParty-Mumps Mumps
        cd Mumps/
        git checkout -b stable/2.1
        git reset ${MUMPS_TAG} --hard
        ./get.Mumps
        touch .build #Otherwise coinbrew will skip its installations
        cd ../

        #ASL
        git clone https://github.com/coin-or-tools/ThirdParty-ASL ASL
        cd ASL/
        git checkout -b stable/2.0
        git reset ${ASL_TAG} --hard
        ./get.ASL
        cd ../

        #HSL
        git clone https://github.com/coin-or-tools/ThirdParty-HSL HSL
        cd HSL/
        git checkout -b stable/2.1
        git reset ${HSL_TAG} --hard

    - name: IPOPT installation
      shell: bash -l {0}
      run: |
        cd ${GITHUB_WORKSPACE}/cpp_ws/coin-or
        coinbrew/coinbrew fetch Ipopt --no-prompt --skip-update
        coinbrew/coinbrew build Ipopt -b ${GITHUB_WORKSPACE}/cpp_ws/build/ipopt --prefix=${GITHUB_WORKSPACE}/cpp_ws/build/install/ --no-prompt --tests none --verbosity=3 ADD_CFLAGS=-fopenmp ADD_FFLAGS=-fopenmp ADD_CXXFLAGS=-fopenmp

    - name: matioCpp installation
      shell: bash -l {0}
      run: |

        cd ${GITHUB_WORKSPACE}/cpp_ws
        git clone https://github.com/ami-iit/matio-cpp
        cd matio-cpp
        git checkout ${matiocpp_TAG}
        cd ${GITHUB_WORKSPACE}/cpp_ws/build
        mkdir matio-cpp && cd matio-cpp
        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/cpp_ws/build/install -DCMAKE_BUILD_TYPE=Release ${GITHUB_WORKSPACE}/cpp_ws/matio-cpp
        make install

    - name: iDynTree installation
      shell: bash -l {0}
      run: |

        export IPOPT_DIR=${GITHUB_WORKSPACE}/cpp_ws/build/install
        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:${IPOPT_DIR}/lib/pkgconfig/
        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${IPOPT_DIR}/lib

        cd ${GITHUB_WORKSPACE}/cpp_ws
        git clone https://github.com/robotology/idyntree
        cd idyntree
        git checkout ${iDynTree_TAG}
        cd ${GITHUB_WORKSPACE}/cpp_ws/build
        mkdir idyntree && cd idyntree
        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/cpp_ws/build/install -DCMAKE_BUILD_TYPE=Release -DIDYNTREE_USES_IRRLICHT:BOOL=ON ${GITHUB_WORKSPACE}/cpp_ws/idyntree
        make install


    - name: Dynamical Planner Installation
      shell: bash -l {0}
      run: |

        export IPOPT_DIR=${GITHUB_WORKSPACE}/cpp_ws/build/install
        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:${IPOPT_DIR}/lib/pkgconfig/
        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${IPOPT_DIR}/lib
        
        cd ${GITHUB_WORKSPACE}/cpp_ws
        git clone https://github.com/ami-iit/dynamical-planner
        cd dynamical-planner
        git checkout ${dynamical_planner_TAG}

        cd ${GITHUB_WORKSPACE}/cpp_ws/build
        mkdir dynamical-planner && cd dynamical-planner
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/cpp_ws/build/install -DCMAKE_BUILD_TYPE=Release \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/cpp_ws/build/install -DBUILD_TESTING:BOOL=ON ${GITHUB_WORKSPACE}/cpp_ws/dynamical-planner
        make

    - name: Zip cpp_ws folder
      shell: bash
      run: |
        zip -r cpp_ws.zip cpp_ws/

    - uses: actions/upload-artifact@v3
      with:
        name: cpp_ws
        path: cpp_ws.zip

  test-different-parameter:
    name: 'Test with different parameters'
    needs: build
    runs-on: ubuntu-20.04
    strategy:
      fail-fast: false
      matrix:
        complementarity: [dynamical, classical, hyperbolic]
        velocity: [0.05, 0.06, 0.07]
        normalForceDissipationRatio: [250.0]
        normalForceHyperbolicSecantScaling: [500.0]
        complementarityDissipation: [20.0]
        dynamicComplementarityUpperBound: [0.05]
        classicalComplementarityTolerance: [0.004]
        include:
          - complementarity: dynamical
            velocity: 0.05
            normalForceDissipationRatio: 250.0
            normalForceHyperbolicSecantScaling: 500.0
            complementarityDissipation: 10.0
            dynamicComplementarityUpperBound: 0.05
            classicalComplementarityTolerance: 0.004

          - complementarity: dynamical
            velocity: 0.05
            normalForceDissipationRatio: 250.0
            normalForceHyperbolicSecantScaling: 500.0
            complementarityDissipation: 10.0
            dynamicComplementarityUpperBound: 0.1
            classicalComplementarityTolerance: 0.004

          - complementarity: dynamical
            velocity: 0.05
            normalForceDissipationRatio: 250.0
            normalForceHyperbolicSecantScaling: 500.0
            complementarityDissipation: 20.0
            dynamicComplementarityUpperBound: 0.1
            classicalComplementarityTolerance: 0.004

          - complementarity: classical
            velocity: 0.05
            normalForceDissipationRatio: 250.0
            normalForceHyperbolicSecantScaling: 500.0
            complementarityDissipation: 20.0
            dynamicComplementarityUpperBound: 0.05
            classicalComplementarityTolerance: 0.008

          - complementarity: classical
            velocity: 0.05
            normalForceDissipationRatio: 250.0
            normalForceHyperbolicSecantScaling: 500.0
            complementarityDissipation: 20.0
            dynamicComplementarityUpperBound: 0.05
            classicalComplementarityTolerance: 0.012

          - complementarity: classical
            velocity: 0.05
            normalForceDissipationRatio: 250.0
            normalForceHyperbolicSecantScaling: 500.0
            complementarityDissipation: 20.0
            dynamicComplementarityUpperBound: 0.05
            classicalComplementarityTolerance: 0.016

          - complementarity: hyperbolic
            velocity: 0.05
            normalForceDissipationRatio: 125.0
            normalForceHyperbolicSecantScaling: 400.0
            complementarityDissipation: 20.0
            dynamicComplementarityUpperBound: 0.05
            classicalComplementarityTolerance: 0.004

          - complementarity: hyperbolic
            velocity: 0.05
            normalForceDissipationRatio: 125.0
            normalForceHyperbolicSecantScaling: 500.0
            complementarityDissipation: 20.0
            dynamicComplementarityUpperBound: 0.05
            classicalComplementarityTolerance: 0.004

          - complementarity: hyperbolic
            velocity: 0.05
            normalForceDissipationRatio: 250.0
            normalForceHyperbolicSecantScaling: 400.0
            complementarityDissipation: 20.0
            dynamicComplementarityUpperBound: 0.05
            classicalComplementarityTolerance: 0.004

    steps:

    # Remove apt repos that are known to break from time to time
    # See https://github.com/actions/virtual-environments/issues/323
    - name: Remove broken apt repos
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    # Even if we download the build folder, we still have to install the system dependencies
    - name: System dependencies
      run: |
        sudo apt update

        # IPOPT dependencies
        sudo apt install make git wget tar patch dos2unix pkg-config gfortran liblapack-dev libblas-dev libopenblas-dev libmetis-dev

        # iDyntree dependencies
        sudo apt-get install build-essential cmake libeigen3-dev libxml2-dev libassimp-dev libirrlicht-dev

        #matioCpp dependencies
        sudo apt install libmatio-dev

        #FFMPEG dependencies
        sudo apt install ffmpeg libavcodec-dev libavformat-dev libavdevice-dev libavfilter-dev libswscale-dev libpostproc-dev

        #Xvfb, just to have a dummy screen
        sudo apt install xvfb

        #To zip the SavedVideos folder
        sudo apt install zip unzip

    - name: Download cpp_ws folder
      uses: actions/download-artifact@v3
      with:
        name: cpp_ws

    - name: Unzip cpp_ws
      shell: bash
      run: |
        unzip cpp_ws.zip

    - name: Test
      shell: bash
      run: |
        cd cpp_ws/build/dynamical-planner/bin
        OMP_NUM_THREADS=1 xvfb-run ./SolverForComparisonsUnitTest --complementarity ${{ matrix.complementarity }} \
                                                                  --velocity ${{ matrix.velocity }} \
                                                                  --normalForceDissipationRatio ${{ matrix.normalForceDissipationRatio }} \
                                                                  --normalForceHyperbolicSecantScaling ${{ matrix.normalForceHyperbolicSecantScaling }} \
                                                                  --complementarityDissipation ${{ matrix.complementarityDissipation }} \
                                                                  --dynamicComplementarityUpperBound ${{ matrix.dynamicComplementarityUpperBound }} \
                                                                  --classicalComplementarityTolerance ${{ matrix.classicalComplementarityTolerance }}

    - name: Zip SavedVideos
      shell: bash
      run: |
        cd cpp_ws/build/dynamical-planner
        zip -r SavedVideos.zip SavedVideos

    - uses: actions/upload-artifact@v3
      if: matrix.complementarity == 'dynamical'
      with:
        name: SavedVideos-${{ matrix.complementarity }}_v${{ matrix.velocity }}_ub${{ matrix.dynamicComplementarityUpperBound }}_K${{ matrix.complementarityDissipation }}
        path: cpp_ws/build/dynamical-planner/SavedVideos.zip

    - uses: actions/upload-artifact@v3
      if: matrix.complementarity == 'classical'
      with:
        name: SavedVideos-${{ matrix.complementarity }}_v${{ matrix.velocity }}_K${{ matrix.classicalComplementarityTolerance }}
        path: cpp_ws/build/dynamical-planner/SavedVideos.zip

    - uses: actions/upload-artifact@v3
      if: matrix.complementarity == 'hyperbolic'
      with:
        name: SavedVideos-${{ matrix.complementarity }}_v${{ matrix.velocity }}_sec${{ matrix.normalForceHyperbolicSecantScaling }}_K${{ matrix.normalForceDissipationRatio }}
        path: cpp_ws/build/dynamical-planner/SavedVideos.zip