Migrate Aikido to Github Actions

.ci/after_failure.sh

@@ -2,12 +2,9 @@
 
 set -ex
 
-cd "${HOME}/workspace"
-
-if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
-  cat ./build/aikido/Testing/Temporary/LastTest.log
-  cat ./build/aikido/Testing/Temporary/LastTestsFailed.log
-elif [ "${TRAVIS_OS_NAME}" = "osx"   ]; then
-  cat Testing/Temporary/LastTest.log
-  cat Testing/Temporary/LastTestsFailed.log
+if [ "${USE_CATKIN}" = "ON" ]; then
+  cd "${HOME}/workspace/build/aikido/"
 fi
+
+cat Testing/Temporary/LastTest.log
+cat Testing/Temporary/LastTestsFailed.log

.ci/before_install.sh

@@ -3,5 +3,5 @@
 set -ex
 
 if [ "${USE_CATKIN}" = "ON" ]; then
-  . "${TRAVIS_BUILD_DIR}/.ci/before_install_catkin.sh";
+  . "${GITHUB_WORKSPACE}/.ci/before_install_catkin.sh";
 fi

.ci/before_install_catkin.sh

@@ -5,6 +5,6 @@ set -ex
 # Install test fixture dependencies.
 mkdir -p "${HOME}/workspace/src"
 cd "${HOME}/workspace"
-git clone https://github.com/personalrobotics/pr-cleanroom.git scripts
+git clone https://github.com/personalrobotics/pr-cleanroom.git -b master scripts
 curl -sS "${DISTRIBUTION}" > distribution.yml
 ./scripts/internal-setup.sh

.ci/build_docs.sh

@@ -10,14 +10,15 @@ AIKIDO_DIR="${HOME}/workspace/src/aikido"
 # For branch builds, Travis only clones that branch with a fixed depth of 50
 # commits. This means that the clone knows nothing about other Git branches or
 # tags. We fix this by deleting and re-cloning the full repository.
+# TODO: Unsure if we still need to do this for Github Actions
 rm -rf ${AIKIDO_DIR}
-git clone "https://github.com/${TRAVIS_REPO_SLUG}.git" ${AIKIDO_DIR}
+git clone "https://github.com/${GITHUB_REPOSITORY}.git" ${AIKIDO_DIR}
 
 # Organize into "gh-pages" directory
-mkdir -p ${TRAVIS_BUILD_DIR}/gh-pages
+mkdir -p ${GITHUB_WORKSPACE}/gh-pages
 
 # Initialize list of API versions
-cat <<EOF > ${TRAVIS_BUILD_DIR}/gh-pages/README.md
+cat <<EOF > ${GITHUB_WORKSPACE}/gh-pages/README.md
 ## API Documentation
 
 EOF
@@ -27,12 +28,12 @@ cd build_docs
 
 while read version; do
   # Add entry to list of API versions
-  echo "* [${version}](https://personalrobotics.github.io/aikido/${version}/)" >> ${TRAVIS_BUILD_DIR}/gh-pages/README.md
+  echo "* [${version}](https://personalrobotics.github.io/aikido/${version}/)" >> ${GITHUB_WORKSPACE}/gh-pages/README.md
 
   # Build documentation
   git -C ${AIKIDO_DIR} checkout ${version}
   rm -rf *
   cmake -DDOWNLOAD_TAGFILES=ON ${AIKIDO_DIR}
   make docs
-  mv doxygen ${TRAVIS_BUILD_DIR}/gh-pages/${version}
-done < ${TRAVIS_BUILD_DIR}/.ci/docs_versions.txt
+  mv doxygen ${GITHUB_WORKSPACE}/gh-pages/${version}
+done < ${GITHUB_WORKSPACE}/.ci/docs_versions.txt

.ci/install.sh

@@ -2,12 +2,12 @@
 
 set -ex
 
-if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+if [ "${OS_NAME}" = "macos-latest" ]; then
+  . "${GITHUB_WORKSPACE}/.ci/install_macos.sh"
+else
   if [ "${USE_CATKIN}" = "ON" ]; then
-    . "${TRAVIS_BUILD_DIR}/.ci/install_linux_catkin.sh"
+    . "${GITHUB_WORKSPACE}/.ci/install_linux_catkin.sh"
   else
-    . "${TRAVIS_BUILD_DIR}/.ci/install_linux_cmake.sh"
+    . "${GITHUB_WORKSPACE}/.ci/install_linux_cmake.sh"
   fi
-elif [ "${TRAVIS_OS_NAME}" = "osx"   ]; then
-  . "${TRAVIS_BUILD_DIR}/.ci/install_macos.sh"
 fi

.ci/install_linux_catkin.sh

@@ -3,7 +3,7 @@
 set -ex
 
 cd "${HOME}/workspace"
-cp -r "${TRAVIS_BUILD_DIR}" src
+cp -r "${GITHUB_WORKSPACE}" src
 ./scripts/internal-distro.py --workspace=src distribution.yml --repository "${REPOSITORY}" ${REQUIRED_ONLY}
 
 if [ $BUILD_NAME = TRUSTY_FULL_DEBUG ]; then

.ci/script.sh

@@ -3,7 +3,7 @@
 set -ex
 
 if [ "${USE_CATKIN}" = "ON" ]; then
-  . "${TRAVIS_BUILD_DIR}/.ci/script_catkin.sh"
+  . "${GITHUB_WORKSPACE}/.ci/script_catkin.sh"
 else
-  . "${TRAVIS_BUILD_DIR}/.ci/script_cmake.sh"
+  . "${GITHUB_WORKSPACE}/.ci/script_cmake.sh"
 fi

.ci/script_catkin.sh

@@ -8,7 +8,7 @@ export PACKAGE_NAMES="$(./scripts/internal-get-packages.py distribution.yml ${RE
 ./scripts/internal-build.sh ${PACKAGE_NAMES}
 
 if [ $BUILD_NAME = DOCS ]; then
-  . "${TRAVIS_BUILD_DIR}/.ci/build_docs.sh"
+  . "${GITHUB_WORKSPACE}/.ci/build_docs.sh"
   exit 0
 fi
 

.github/workflows/build-test.yml

@@ -0,0 +1,89 @@
+name: build-test
+
+on:
+  # Pushes / merges to master
+  push:
+    branches:
+      - master
+  # On creation and updating of PR
+  pull_request:
+    types: [opened, reopened, synchronize]
+    # Only those targeting master branch
+    branches:
+      - master
+  # Every two days
+  schedule:
+    - cron: '0 23 */2 * *'
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  build:
+    continue-on-error: true
+    strategy:
+      matrix:
+        include:
+          # OSX Build
+          - os: macos-11.0
+            catkin: OFF
+            aikidopy: OFF
+            build: XCODE11_CMAKE_RELEASE
+            config: ""
+          # Bionic CMake
+          - os: ubuntu-18.04
+            catkin: OFF
+            aikidopy: OFF
+            build: BIONIC_CMAKE_RELEASE
+            config: ""
+          # Focal CMake
+          - os: ubuntu-20.04
+            catkin: OFF
+            aikidopy: OFF
+            build: FOCAL_CMAKE_RELEASE
+            config: ""
+          # Focal CMake Aikidopy
+          - os: ubuntu-20.04
+            catkin: OFF
+            aikidopy: ON
+            build: FOCAL_CMAKE_RELEASE_AIKIDOPY
+            config: ""
+          # Focal Catkin
+          - os: ubuntu-20.04
+            catkin: ON
+            aikidopy: OFF
+            build: FOCAL_CATKIN_FULL_RELEASE
+            config: "-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+          # Focal Catkin Aikidopy
+          - os: ubuntu-20.04
+            catkin: ON
+            aikidopy: ON
+            build: FOCAL_CATKIN_FULL_RELEASE_AIKIDOPY
+            config: "-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON -DBUILD_AIKIDOPY=ON"
+    runs-on: ${{ matrix.os }}
+    name: ${{ matrix.build }}
+    env:
+      USE_CATKIN: ${{ matrix.catkin }}
+      BUILD_NAME: ${{ matrix.build }}
+      CATKIN_CONFIG_OPTIONS: ${{ matrix.config }}
+      BUILD_AIKIDOPY: ${{ matrix.aikidopy }}
+      BUILD_TYPE: Release
+      OS_NAME: ${{ matrix.os }}
+      DISTRIBUTION: ${{ secrets.DISTRIBUTION }}
+      REPOSITORY: aikido
+      SUDO: sudo
+      CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+      - name: Before install
+        run: .ci/before_install.sh
+      - name: Install
+        run: .ci/install.sh
+      - name: Script
+        run: .ci/script.sh
+      # Report on failed tests
+      - name: After failure
+        if: ${{ failure() }}
+        run: .ci/after_failure.sh

.github/workflows/docs.yml

@@ -0,0 +1,50 @@
+name: docs
+
+on: 
+  # Pushes / merges to master
+  push:
+    branches:
+      - master
+  workflow_dispatch:
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        include:
+          # Docs
+          - os: ubuntu-18.04
+            catkin: ON
+            aikidopy: OFF
+            build: DOCS
+            config: ""
+    runs-on: ${{ matrix.os }}
+    name: ${{ matrix.build }}
+    env:
+      USE_CATKIN: ${{ matrix.catkin }}
+      BUILD_NAME: ${{ matrix.build }}
+      CATKIN_CONFIG_OPTIONS: ${{ matrix.config }}
+      BUILD_AIKIDOPY: ${{ matrix.aikidopy }}
+      BUILD_TYPE: Release
+      DISTRIBUTION: ${{ secrets.DISTRIBUTION }}
+      REPOSITORY: aikido
+      SUDO: sudo
+      CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+      - name: Before install
+        run: .ci/before_install.sh
+      - name: Install
+        run: .ci/install.sh
+      - name: Script
+        run: .ci/script.sh
+      - name: After script
+        run: .ci/after_script.sh
+      - name: After failure
+        if: ${{ failure() }}
+        run: .ci/after_failure.sh