General CI cleanup November 2024

.github/workflows/ci.yml

@@ -11,7 +11,7 @@ on:
 env:
   osqp_TAG: v0.6.3
   vcpkg_robotology_TAG: v0.0.3
-  Catch2_TAG: v2.13.9
+  Catch2_TAG: v3.0.1
   # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg  
   VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
 
@@ -23,7 +23,7 @@ jobs:
     strategy:
       matrix:
         build_type: [Debug, Release]
-        os: [ubuntu-latest, macOS-latest, windows-latest]
+        os: [ubuntu-latest, windows-latest]
         float: [ON, OFF]
       fail-fast: false
 
@@ -64,11 +64,6 @@ jobs:
         cd C:/robotology/vcpkg
         ./vcpkg.exe install --triplet x64-windows catch2
 
-    - name: Dependencies [macOS]
-      if: matrix.os == 'macOS-latest'
-      run: |
-        brew install eigen
-
     - name: Dependencies [Ubuntu]
       if: matrix.os == 'ubuntu-latest'
       run: |
@@ -98,8 +93,8 @@ jobs:
 
         cmake --build . --config ${{ matrix.build_type }} --target INSTALL
 
-    - name: Source-based Dependencies [Ubuntu/macOS]
-      if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')
+    - name: Source-based Dependencies [Ubuntu]
+      if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest')
       shell: bash
       run: |
         # osqp

.github/workflows/test-pixi.yaml

@@ -0,0 +1,54 @@
+name: Run tests with pixi
+
+on:
+  # on demand
+  workflow_dispatch:
+    inputs:
+      delete_pixi_lock:
+        description: 'If true, delete pixi.lock, to test against the latest version of dependencies.'
+        required: true
+        default: 'false'
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build twice a week 2 AM UTC
+  - cron:  '0 2 * * 2,5'
+
+jobs:
+  pixi-test:
+    name: '[pixi:${{ matrix.os }}]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [
+          ubuntu-24.04,
+          macos-latest,
+          windows-2019
+        ]
+    steps:
+    - uses: actions/checkout@v4
+
+    # On periodic jobs and when delete_pixi_lock option is true, delete the pixi.lock to check that the project compiles with latest version of dependencies
+    - name: Delete pixi.lock on scheduled jobs or if delete_pixi_lock is true
+      if: github.event_name == 'schedule' || (github.event_name == 'workflow_dispatch' && github.event.inputs.delete_pixi_lock == 'true')
+      shell: bash
+      run: |
+        rm pixi.lock
+
+
+    # To use valgrind even with conda/pixi we still need to install libc6-dbg via apt on Debian-based distros
+    # See https://github.com/robotology/osqp-eigen/pull/171#issuecomment-2458149581
+    - name: Install libc6-dbg
+      if: contains(matrix.os, 'ubuntu')
+      run: |
+        sudo apt-get install libc6-dbg
+
+    - name: Set up pixi
+      uses: prefix-dev/setup-pixi@v0.8.1
+
+    - name: Print pixi info
+      run: pixi info
+
+    - name: Build and test the project
+      run: pixi run test

.github/workflows/update-pixi-lockfile.yaml

@@ -0,0 +1,42 @@
+name: Update lockfiles
+
+permissions:
+  contents: write
+  pull-requests: write
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: 0 5 1 * *
+
+jobs:
+  pixi-update:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up pixi
+        uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          run-install: false
+
+      - name: Install pixi-diff-to-markdown
+        run: pixi global install pixi-diff-to-markdown
+
+      - name: Update lockfiles
+        run: |
+          set -o pipefail
+          pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md
+
+      - name: Create pull request
+        uses: peter-evans/create-pull-request@v6
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: Update pixi lockfile
+          title: Update pixi lockfile
+          body-path: diff.md
+          branch: update-pixi
+          base: main
+          labels: pixi
+          delete-branch: true
+          add-paths: pixi.lock

.gitignore

@@ -11,3 +11,5 @@ tramp
 #build
 /build/
 *.user
+.build
+.pixi

cmake/AddOsqpEigenUnitTest.cmake

@@ -27,13 +27,6 @@ if (OSQPEIGEN_RUN_Valgrind_tests)
     separate_arguments(MEMCHECK_COMMAND_COMPLETE)
 endif()
 
-if (OSQPEIGEN_COMPILE_tests)
-    configure_file(cmake/Catch2Main.cpp.in ${CMAKE_BINARY_DIR}/Testing/Catch2Main.cpp)
-    add_library(CatchTestMain ${CMAKE_BINARY_DIR}/Testing/Catch2Main.cpp)
-    target_link_libraries(CatchTestMain PUBLIC Catch2::Catch2)
-endif()
-
-
 function(add_osqpeigen_test)
 
     if(OSQPEIGEN_COMPILE_tests)
@@ -57,7 +50,7 @@ function(add_osqpeigen_test)
       add_executable(${targetname}
           "${unit_test_files}")
 
-      target_link_libraries(${targetname} PRIVATE CatchTestMain ${${prefix}_LINKS})
+      target_link_libraries(${targetname} PRIVATE Catch2::Catch2WithMain ${${prefix}_LINKS})
       target_compile_definitions(${targetname} PRIVATE CATCH_CONFIG_FAST_COMPILE CATCH_CONFIG_DISABLE_MATCHERS)
       target_compile_features(${targetname} PUBLIC cxx_std_14)
 

cmake/OsqpEigenDependencies.cmake

@@ -17,7 +17,7 @@ endif()
 
 #---------------------------------------------
 ## Optional Dependencies
-find_package(Catch2 QUIET)
+find_package(Catch2 3.0.1 QUIET)
 checkandset_optional_dependency(Catch2)
 
 find_package(VALGRIND QUIET)