Refactor CMake with JRL CMake Modules v2

.clang-format

@@ -1,3 +1,3 @@
 BasedOnStyle: Google
 SortIncludes: false
-Standard: Cpp11
+Standard: c++17

.gersemirc

@@ -0,0 +1,4 @@
+definitions: [./CMakeLists.txt, ./unittest, ./python]
+line_length: 100
+indent: 2
+warn_about_unknown_commands: false

.github/workflows/jrl-cmakemodules.yml

@@ -5,46 +5,61 @@ on:
     branches:
       - devel
     paths-ignore:
-      - 'doc/**'
-      - '.gitlab-ci.yml'
-      - '.gitignore'
-      - '*.md'
-      - 'LICENSE'
-      - 'colcon.pkg'
-      - '.pre-commit-config.yaml'
+      - "doc/**"
+      - ".gitlab-ci.yml"
+      - ".gitignore"
+      - "*.md"
+      - "LICENSE"
+      - "colcon.pkg"
+      - ".pre-commit-config.yaml"
   pull_request:
     paths-ignore:
-      - 'doc/**'
-      - '.gitlab-ci.yml'
-      - '.gitignore'
-      - '*.md'
-      - 'LICENSE'
-      - 'colcon.pkg'
-      - '.pre-commit-config.yaml'
+      - "doc/**"
+      - ".gitlab-ci.yml"
+      - ".gitignore"
+      - "*.md"
+      - "LICENSE"
+      - "colcon.pkg"
+      - ".pre-commit-config.yaml"
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  with-submodules:
-    name: Check configuration with git submodules
+  standard-config:
+    name: Use standard configuration (fetchcontent)
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7
-        with:
-          submodules: true
-      - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy
-      - run: cmake .
-
+      - run: sudo apt-get update && sudo apt-get install -y libboost-all-dev libeigen3-dev python3-numpy python3-scipy doxygen graphviz
+      - run: cmake -B build -S .
 
-  without-submodules:
-    name: Check configuration without git submodules
+  local-config:
+    name: Use JRL_CMAKEMODULES_SOURCE_DIR on the cmd line
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7
         with:
-          submodules: false
-          path: eigenpy
-      - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy
-      - run: cmake -B build -S eigenpy
-      - run: grep -qvz CMAKE_PROJECT_VERSION:STATIC=0.0 build/CMakeCache.txt
+          repository: jrl-umi3218/jrl-cmakemodules
+          path: ${{ github.workspace }}/jrl-cmakemodules
+      - uses: actions/checkout@v7
+        with:
+          path: ${{ github.workspace }}/eigenpy
+      - run: sudo apt-get update && sudo apt-get install -y libboost-all-dev libeigen3-dev python3-numpy python3-scipy doxygen graphviz
+      - run: cmake -B build -S ${{ github.workspace }}/eigenpy -DJRL_CMAKEMODULES_SOURCE_DIR="${{ github.workspace }}/jrl-cmakemodules"
+
+  check:
+    if: always()
+    name: Check JRL Configs
+
+    needs:
+      - standard-config
+      - local-config
+
+    runs-on: Ubuntu-latest
+
+    steps:
+      - name: Decide whether the needed jobs succeeded or failed
+        uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.github/workflows/linux.yml

@@ -1,63 +1,104 @@
-name: CI - Linux via APT
+name: CI - Linux (APT)
 
 on:
   push:
     branches:
       - devel
     paths-ignore:
-      - 'doc/**'
-      - '.gitlab-ci.yml'
-      - '.gitignore'
-      - '*.md'
-      - 'LICENSE'
-      - 'colcon.pkg'
-      - '.pre-commit-config.yaml'
+      - "doc/**"
+      - ".gitlab-ci.yml"
+      - ".gitignore"
+      - "*.md"
+      - "LICENSE"
+      - "colcon.pkg"
+      - ".pre-commit-config.yaml"
   pull_request:
     paths-ignore:
-      - 'doc/**'
-      - '.gitlab-ci.yml'
-      - '.gitignore'
-      - '*.md'
-      - 'LICENSE'
-      - 'colcon.pkg'
-      - '.pre-commit-config.yaml'
+      - "doc/**"
+      - ".gitlab-ci.yml"
+      - ".gitignore"
+      - "*.md"
+      - "LICENSE"
+      - "colcon.pkg"
+      - ".pre-commit-config.yaml"
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  test:
-    name: "Test python ${{ matrix.python }} on ${{ matrix.ubuntu }}.04"
-    runs-on: "ubuntu-${{ matrix.ubuntu }}.04"
+  ubuntu:
+    name: CI - ${{ matrix.image }} - ${{ matrix.build_type }} (APT)
+    runs-on: ubuntu-latest
+    container:
+      image: ${{ matrix.image }}
     strategy:
       fail-fast: false
       matrix:
-        python: [3]
-        ubuntu: [22, 24]
+        image: ["ubuntu:22.04", "ubuntu:24.04"]
+        build_type: [Release, Debug]
+    env:
+      CCACHE_BASEDIR: ${{ github.workspace }}
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+      CMAKE_C_COMPILER_LAUNCHER: ccache
+      CMAKE_CXX_COMPILER_LAUNCHER: ccache
     steps:
+      - name: Install dependencies via APT
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install -y \
+          git \
+          g++ \
+          cmake \
+          ninja-build \
+          ccache \
+          doxygen \
+          graphviz \
+          libboost-all-dev \
+          libeigen3-dev \
+          python3-numpy \
+          python3-dev \
+          python3-scipy
+
       - uses: actions/checkout@v7
+
+      - name: Setup ccache
+        uses: actions/cache@v6
         with:
-          submodules: 'true'
-      - run: |
-          sudo apt-get update
-          sudo apt-get install cmake libboost-all-dev libeigen3-dev python*-numpy python*-dev python*-scipy
-          echo $(sudo apt list --installed)
-          echo $(g++ --version)
-      - run: cmake . -DPYTHON_EXECUTABLE=$(which python${{ matrix.python }}) -DBUILD_TESTING_SCIPY=ON
-      - run: make -j2
-      - run: ctest --output-on-failure
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-ubuntu-${{ matrix.image }}-${{ matrix.build_type }}-${{ github.sha }}
+          restore-keys: ccache-ubuntu-${{ matrix.image }}-${{ matrix.build_type }}-
+
+      - name: Clear ccache stats
+        run: ccache --show-stats --zero-stats --verbose
+
+      - name: CMake Configure
+        run: cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DBUILD_TESTING_SCIPY=ON
+
+      - name: CMake Build
+        run: cmake --build build --verbose --parallel 2
+
+      - name: Show ccache stats
+        run: ccache --show-stats --verbose
+
+      - name: CTest
+        run: ctest --test-dir build --output-on-failure
+
+      - name: CMake Install
+        run: cmake --install build --prefix install
 
   check:
     if: always()
     name: check-linux
 
     needs:
-    - test
+      - ubuntu
 
     runs-on: Ubuntu-latest
 
     steps:
-    - name: Decide whether the needed jobs succeeded or failed
-      uses: re-actors/alls-green@release/v1
-      with:
-        jobs: ${{ toJSON(needs) }}
+      - name: Decide whether the needed jobs succeeded or failed
+        uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.github/workflows/macos-linux-windows-pixi.yml

@@ -27,11 +27,11 @@ concurrency:
 
 jobs:
   eigenpy-pixi:
-    name: Standard - ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.cxx_options }} ${{ matrix.compiler }}
+    name: Pixi - ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.cxx_options }}
     runs-on: ${{ matrix.os }}
     env:
-      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
-      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_BASEDIR: ${{ github.workspace }}
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
       CCACHE_COMPRESS: true
       CCACHE_COMPRESSLEVEL: 6
       # Since pixi will install a compiler, the compiler mtime will be changed.
@@ -64,35 +64,43 @@ jobs:
 
     steps:
     - uses: actions/checkout@v7
-      with:
-        submodules: recursive
 
     - uses: actions/cache@v6
       with:
-        path: .ccache
-        key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-${{ github.sha }}
-        restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-${{ github.sha }}
+        restore-keys: ccache-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-
 
     - uses: prefix-dev/setup-pixi@v0.10.0
       with:
-        cache: true
         environments: ${{ matrix.environment }}
 
     - name: Clear ccache statistics [MacOS/Linux/Windows]
       run: |
-        pixi run -e ${{ matrix.environment }} ccache -z
+        pixi run -e ${{ matrix.environment }} ccache --show-stats --zero-stats --verbose
 
-    - name: Build EigenPy [MacOS/Linux/Windows]
+    - name: Configure EigenPy [MacOS/Linux/Windows]
       env:
-        CMAKE_BUILD_PARALLEL_LEVEL: 2
         EIGENPY_BUILD_TYPE: ${{ matrix.build_type }}
         EIGENPY_CXX_FLAGS: ${{ matrix.cxx_options }}
       run: |
-        pixi run -e ${{ matrix.environment }} test
+        pixi run -e ${{ matrix.environment }} configure
+
+    - name: Build EigenPy [MacOS/Linux/Windows]
+      run: |
+        pixi run -e ${{ matrix.environment }} --skip-deps build --verbose --parallel 2
+
+    - name: Test EigenPy [MacOS/Linux/Windows]
+      run: |
+        pixi run -e ${{ matrix.environment }} --skip-deps test
+
+    - name: Install EigenPy [MacOS/Linux/Windows]
+      run: |
+        pixi run -e ${{ matrix.environment }} --skip-deps install
 
     - name: Show ccache statistics [MacOS/Linux/Windows]
       run: |
-        pixi run -e ${{ matrix.environment }} ccache -sv
+        pixi run -e ${{ matrix.environment }} ccache --show-stats --verbose
 
   # eigenpy-pixi-build:
   #   name: Pixi build - ${{ matrix.os }}
@@ -105,14 +113,12 @@ jobs:
 
   #   steps:
   #   - uses: actions/checkout@v7
-  #     with:
-  #       submodules: recursive
 
   #   - uses: prefix-dev/setup-pixi@v0.10.0
   #     env:
   #       CMAKE_BUILD_PARALLEL_LEVEL: 2
   #     with:
-  #       cache: true
+  #       cache: false # ⚠️ Disabling cache for testing ⚠️
   #       environments: test-pixi-build
 
   #   - name: Test package [MacOS/Linux/Windows]

.github/workflows/nix.yml

@@ -9,6 +9,9 @@ concurrency:
   cancel-in-progress: true
 jobs:
   nix:
+    # ⚠️ temporarly disable the Nix job ⚠️
+    if: false
+
     runs-on: "${{ matrix.os }}-latest"
     strategy:
       matrix:
@@ -24,7 +27,10 @@ jobs:
       - run: nix flake check -L
       - run: nix build -L ".#${{ matrix.extends }}"
   check:
-    if: always()
+    # ⚠️ temporarly disable the Nix job ⚠️
+    if: false
+    # if: always()
+
     name: check-macos-linux-nix
     runs-on: ubuntu-latest
     needs:

.github/workflows/reloc.yml

@@ -35,9 +35,6 @@ jobs:
 
     steps:
     - uses: actions/checkout@v7
-      with:
-        submodules: recursive
-
     - uses: actions/cache@v6
       with:
         path: ${{ env.CCACHE_DIR }}
@@ -50,10 +47,10 @@ jobs:
       run: sudo mkdir -p /RELOC/SRC && sudo chown -R $(id -un) /RELOC
 
     - name: clone in /RELOC/SRC
-      run: git -C /RELOC/SRC clone --recursive $(pwd)
+      run: git -C /RELOC/SRC clone $(pwd)
 
     - name: install dependencies
-      run: sudo apt install libboost-all-dev libeigen3-dev python-is-python3 python3-numpy python3-pip python3-scipy ccache
+      run: sudo apt-get update && sudo apt-get install -y libboost-all-dev libeigen3-dev python-is-python3 python3-numpy python3-pip python3-scipy ccache doxygen graphviz
 
     - name: update CMake
       run: pip install -U pip && pip install -U cmake