Update Conda CI to devel conda packages (#80)

* update Conda CI to new devel conda packages

* fix typo & cosms

* debugging

* fix step order

* add required pybind11 for softrobots

* add required cxxopts for softrobots

* fix python interpreter path for windows

* fix win compiler

* dear windows bash

Author: olivier-roussel

.github/workflows/ci-conda.yml

@@ -1,4 +1,4 @@
-name: CI - Linux/OSX/Windows - Conda
+name: CI - Conda
 
 on:
   workflow_dispatch:
@@ -7,13 +7,13 @@ on:
 
 jobs:
   build-with-conda-and-test:
-    name: "[conda:${{ matrix.os }}:py${{ matrix.python_version }}:${{ matrix.qp_solver }}]"
+    name: "${{ matrix.os }} with SOFA master from Conda devel [QPSolver = ${{ matrix.qp_solver }}]"
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-13, macos-14, windows-2022]
-        python_version: ["3.13"]
+        os: [ubuntu-latest, macos-latest, windows-latest, ubuntu-24.04-arm]
+        python_version: ["3.12"]
         build_type: ["Release"]
         qp_solver: ["qpOases", "proxQP"]
 
@@ -28,68 +28,93 @@ jobs:
         channels: conda-forge
         conda-remove-defaults: "true"
 
-    - name: Checkout source code
-      uses: actions/checkout@v4
-
-    - name: Install SOFA from nightly packages [Conda]
+    - name: Install SOFA and SofaPython3 from devel packages
       shell: bash -l {0}
       run: |
-        conda install sofa-devel sofa-python3 sofa-stlib sofa-softrobots -c sofa-framework-nightly
+        conda install sofa-devel sofa-python3 -c https://prefix.dev/sofa-framework-devel
 
-    - name: Install compilation environment [Conda / Linux]
-      if: contains(matrix.os, 'ubuntu')
+    - name: Install compilation environment
       shell: bash -l {0}
       run: |
-        conda install cmake compilers make ninja      
-        conda install mesa-libgl-devel-cos7-x86_64
+        conda install cmake cxx-compiler ninja pkg-config pybind11 cxxopts
 
-    - name: Install compilation environment [Conda / macOS]
-      if: contains(matrix.os, 'macos')
+    - name: Checkout SOFA SoftRobots
+      uses: actions/checkout@v4
+      with:
+        repository: SofaDefrost/SoftRobots
+        ref: master
+        path: SoftRobots
+
+    - name: Configure SoftRobots [Linux / macOS]
+      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
       shell: bash -l {0}
       run: |
-        conda install cmake compilers make ninja
+        cd SoftRobots
+        mkdir build
+        cd build
+        cmake .. -GNinja \
+         -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
+         -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+         -DPython_EXECUTABLE:PATH=${CONDA_PREFIX}/bin/python \
+         -DSOFTROBOTS_BUILD_TESTS:BOOL=OFF
 
-    - name: Install compilation environment [Conda / Windows]
+    - name: Configure SoftRobots [Windows]
       if: contains(matrix.os, 'windows')
+      # It's better to use CMD to have all VS variables setup
+      shell: cmd /C CALL {0}
+      run: |
+        cd SoftRobots
+        mkdir build
+        cd build
+        cmake .. -GNinja ^
+         -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%/Library ^
+         -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
+         -DPython_EXECUTABLE:PATH=%CONDA_PREFIX%/python.exe ^
+         -DSOFTROBOTS_BUILD_TESTS:BOOL=OFF
+
+    - name: Build & install SoftRobots [Linux / macOS]
+      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
       shell: bash -l {0}
       run: |
-        conda install cmake vs2022_win-64
+        cd SoftRobots/build
+        cmake --build . --config ${{ matrix.build_type }} -v -j 2
+        cmake --install . --config ${{ matrix.build_type }}
 
-    - name: Install dependencies [Conda]
-      shell: bash -l {0}
+    - name: Build & install SoftRobots [Windows]
+      if: contains(matrix.os, 'windows')
+      # It's better to use CMD to have all VS variables setup
+      shell: cmd /C CALL {0}
       run: |
-        conda install eigen libboost-headers pybind11 cxxopts
+        cd SoftRobots/build
+        cmake --build . --config ${{ matrix.build_type }} -v -j 2
+        cmake --install . --config ${{ matrix.build_type }}
 
-    - name: Install QP solver dependencies [Conda / proxQP]
+    - name: Checkout source code
+      uses: actions/checkout@v4
+
+    - name: Install QP solver dependencies [proxQP]
       if: contains(matrix.qp_solver, 'proxQP')
       shell: bash -l {0}
       run: |
         conda install proxsuite
         echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=ON -DSOFTROBOTSINVERSE_ENABLE_QPOASES=OFF" >> "$GITHUB_ENV"
 
-    - name: Install QP solver dependencies [Conda / qpOases & not osx-arm64]
-      if: contains(matrix.qp_solver, 'qpOases') && !contains(matrix.os, 'macos-14')
+    - name: Install QP solver dependencies [qpOases]
+      if: contains(matrix.qp_solver, 'qpOases')
       shell: bash -l {0}
       run: |
         conda install qpoases
         echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=OFF -DSOFTROBOTSINVERSE_ENABLE_QPOASES=ON" >> "$GITHUB_ENV"        
 
-      # Use embedded qpOases version as its conda package for python>3.10 under osx-arm64 platform is not supported anymore
-    - name: Install QP solver dependencies [Conda / qpOases & osx-arm64]
-      if: contains(matrix.qp_solver, 'qpOases') && contains(matrix.os, 'macos-14')
-      shell: bash -l {0}
-      run: |
-        echo "CMAKE_OPTS_QPSOLVER=-DSOFTROBOTSINVERSE_ENABLE_PROXQP=OFF -DSOFTROBOTSINVERSE_ENABLE_QPOASES=ON" >> "$GITHUB_ENV"        
-
-    - name: Print environment [Conda]
+    - name: Print environment
       shell: bash -l {0}
       run: |
         conda info
         conda list
         env
 
-    - name: Configure [Conda / Linux & macOS]
-      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+    - name: Configure SoftRobots.Inverse [Linux / macOS]
+      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
       shell: bash -l {0}
       run: |
         mkdir build
@@ -100,32 +125,37 @@ jobs:
          -DPython_EXECUTABLE:PATH=${CONDA_PREFIX}/bin/python \
          -DSOFTROBOTSINVERSE_BUILD_TESTS:BOOL=ON
 
-    - name: Configure [Conda / Windows]
+    - name: Configure SoftRobots.Inverse [Windows]
       if: contains(matrix.os, 'windows')
-      shell: bash -l {0}
+      # It's better to use CMD to have all VS variables setup
+      shell: cmd /C CALL {0}
       run: |
         mkdir build
         cd build
-        cmake .. -G"Visual Studio 17 2022" -T "v143" $CMAKE_OPTS_QPSOLVER  \
-         -DCMAKE_GENERATOR_PLATFORM=x64 \
-         -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
-         -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-         -DPython_EXECUTABLE:PATH=${CONDA_PREFIX}/python.exe \
+        cmake .. -GNinja %CMAKE_OPTS_QPSOLVER% ^
+         -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX% ^
+         -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
+         -DPython_EXECUTABLE:PATH=%CONDA_PREFIX%/python.exe  ^
          -DSOFTROBOTSINVERSE_BUILD_TESTS:BOOL=ON
 
-    - name: Build [Conda]
+    - name: Build && install SoftRobots.Inverse [Linux / macOS]
+      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
       shell: bash -l {0}
       run: |
         cd build
         cmake --build . --config ${{ matrix.build_type }} -v -j 2
+        cmake --install . --config ${{ matrix.build_type }}
 
-    - name: Install [Conda]
-      shell: bash -l {0}
+    - name: Build && install SoftRobots.Inverse [Windows]
+      if: contains(matrix.os, 'windows')
+      # It's better to use CMD to have all VS variables setup
+      shell: cmd /C CALL {0}
       run: |
         cd build
+        cmake --build . --config ${{ matrix.build_type }} -v -j 2
         cmake --install . --config ${{ matrix.build_type }}
 
-    - name: Test [Conda]
+    - name: Test SoftRobots.Inverse
       shell: bash -l {0}
       run: |
         cd build