Improve atPose clarity, routine-active safety, alliance-flipping safety #547
Workflow file for this run
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| name: TrajoptLib / Build Rust | |
| on: [pull_request, push] | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| timeout-minutes: 10 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - artifact-name: Windows x86_64 | |
| os: windows-2022 | |
| - artifact-name: Windows aarch64 | |
| os: windows-2022 | |
| - artifact-name: macOS universal | |
| os: macOS-14 | |
| - artifact-name: Linux x86_64 | |
| os: ubuntu-24.04 | |
| name: "${{ matrix.artifact-name }}" | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies (Windows) | |
| uses: lukka/[email protected] | |
| if: startsWith(matrix.os, 'windows') | |
| - name: Install dependencies (Linux) | |
| if: startsWith(matrix.os, 'ubuntu') | |
| run: sudo apt-get update && sudo apt-get install -y ninja-build | |
| - name: Install dependencies (macOS) | |
| run: brew install ninja | |
| if: startsWith(matrix.os, 'macOS') | |
| - name: Make GCC 14 the default toolchain (Linux) | |
| if: startsWith(matrix.os, 'ubuntu') | |
| run: | | |
| sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200 | |
| sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200 | |
| - run: sudo xcode-select -switch /Applications/Xcode_15.3.app | |
| if: startsWith(matrix.os, 'macOS') | |
| - name: Set up sccache | |
| uses: mozilla-actions/[email protected] | |
| # sccache doesn't work with MSBuild | |
| if: ${{ !startsWith(matrix.os, 'windows') }} | |
| - run: cargo build | |
| if: ${{ !startsWith(matrix.os, 'windows') }} | |
| working-directory: trajoptlib | |
| env: | |
| SCCACHE_GHA_ENABLED: "true" | |
| RUSTC_WRAPPER: "sccache" | |
| - run: cargo build --example differential | |
| if: ${{ !startsWith(matrix.os, 'windows') }} | |
| working-directory: trajoptlib | |
| env: | |
| SCCACHE_GHA_ENABLED: "true" | |
| RUSTC_WRAPPER: "sccache" | |
| - run: cargo build --example swerve | |
| if: ${{ !startsWith(matrix.os, 'windows') }} | |
| working-directory: trajoptlib | |
| env: | |
| SCCACHE_GHA_ENABLED: "true" | |
| RUSTC_WRAPPER: "sccache" |