Added CI for Ubuntu24.04 #3485

Workflow file for this run

	name: CI Workflow

	on:
	push:
	pull_request_target:
	types: [opened, synchronize, reopened]
	branches:
	- 'master'
	- 'yarp-*'
	- 'feature/*'
	- 'CI/*'
	release:
	types: [published]

	jobs:

	select_environment:
	name: 'Prepare Environment'
	runs-on: ubuntu-22.04
	outputs:
	timestamp: ${{ steps.select.outputs.timestamp }}
	repository_owner: ${{ steps.select.outputs.repository_owner }}
	repository_name: ${{ steps.select.outputs.repository_name }}
	repository: ${{ steps.select.outputs.repository }}
	ref: ${{ steps.select.outputs.ref }}
	environment: ${{ steps.select.outputs.environment }}
	sha: ${{ steps.select.outputs.sha }}
	head_ref: ${{ steps.select.outputs.head_ref }}
	base_ref: ${{ steps.select.outputs.base_ref }}
	pr_number: ${{ steps.select.outputs.pr_number }}
	yarp_version: ${{ steps.select.outputs.yarp_version }}
	steps:
	- name: "Set output variables"
	id: select
	run: \|
	echo "timestamp=$(/bin/date -u +%Y%m%d-%H%M%S)" >> $GITHUB_OUTPUT

	echo "repository_owner=${{ github.repository_owner }}" >> $GITHUB_OUTPUT
	echo "repository_name=$(cat $GITHUB_EVENT_PATH \| jq -r .repository.name)" >> $GITHUB_OUTPUT
	echo "repository=${{ github.repository }}" >> $GITHUB_OUTPUT

	if [[ "$GITHUB_EVENT_NAME" = "pull_request_target" ]]; then
	echo "environment=code-analysis_unsafe" >> $GITHUB_OUTPUT
	echo "ref=refs/pull/$(cat $GITHUB_EVENT_PATH \| jq -r .number)/merge" >> $GITHUB_OUTPUT
	else
	echo "environment=code-analysis" >> $GITHUB_OUTPUT
	echo "ref=${{ github.ref }}" >> $GITHUB_OUTPUT
	fi
	if [[ "$GITHUB_EVENT_NAME" = "pull_request" \|\| "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
	echo "sha=${{ github.event.pull_request.head.sha }}" >> $GITHUB_OUTPUT
	echo "head_ref=${GITHUB_HEAD_REF}" >> $GITHUB_OUTPUT
	echo "base_ref=${GITHUB_BASE_REF}" >> $GITHUB_OUTPUT
	echo "pr_number=$(cat $GITHUB_EVENT_PATH \| jq -r .number)" >> $GITHUB_OUTPUT
	else
	echo "sha=${{ github.sha }}" >> $GITHUB_OUTPUT
	fi

	# Get YARP Project Version
	if [[ "$GITHUB_EVENT_NAME" = "release" ]]; then
	echo "yarp_version=$(awk '/ VERSION /{print $2}' CMakeLists.txt)" >> $GITHUB_OUTPUT
	fi

	- name: 'Debug output variables'
	env:
	TIMESTAMP: ${{ steps.select.outputs.timestamp }}
	REPOSITORY_OWNER: ${{ steps.select.outputs.repository_owner }}
	REPOSITORY_NAME: ${{ steps.select.outputs.repository_name }}
	REPOSITORY: ${{ steps.select.outputs.repository }}
	REF: ${{ steps.select.outputs.ref }}
	ENVIRONMENT: ${{ steps.select.outputs.environment }}
	SHA: ${{ steps.select.outputs.sha }}
	HEAD_REF: ${{ steps.select.outputs.head_ref }}
	BASE_REF: ${{ steps.select.outputs.base_ref }}
	PR_NUMBER: ${{ steps.select.outputs.pr_number }}
	YARP_VERSION: ${{ steps.select.outputs.yarp_version }}
	run: \|
	echo "TIMESTAMP = ${TIMESTAMP}"
	echo "REPOSITORY_OWNER = ${REPOSITORY_OWNER}"
	echo "REPOSITORY_NAME = ${REPOSITORY_NAME}"
	echo "REPOSITORY = ${REPOSITORY}"
	echo "REF = ${REF}"
	echo "ENVIRONMENT = ${ENVIRONMENT}"
	echo "SHA = ${SHA}"
	echo "HEAD_REF = ${HEAD_REF}"
	echo "BASE_REF = ${BASE_REF}"
	echo "PR_NUMBER = ${PR_NUMBER}"
	echo "YARP_VERSION = ${YARP_VERSION}"

	- name: "Print Environment"
	run: \|
	env

	- name: "Print Event Json"
	run: \|
	echo "::group::install jq"
	sudo apt-get update -qq
	sudo apt-get install -qq -y jq
	echo "::endgroup::"

	cat $GITHUB_EVENT_PATH \| jq -C

	check-license:
	name: 'Check License'
	needs: select_environment
	runs-on: ubuntu-22.04
	steps:
	- name: Clone repository
	uses: actions/checkout@v3
	with:
	repository: ${{ needs.select_environment.outputs.repository }}
	ref: ${{ needs.select_environment.outputs.ref }}

	- name: Install Dependencies
	run: \|
	sudo apt-get update -qq
	sudo apt-get install -qq -y perl

	- name: Check License
	run: \|
	tests/misc/check_license.pl


	check-style:
	name: 'Check Style'
	needs: select_environment
	runs-on: ubuntu-22.04
	steps:
	- name: Clone repository
	uses: actions/checkout@v3
	with:
	repository: ${{ needs.select_environment.outputs.repository }}
	ref: ${{ needs.select_environment.outputs.ref }}

	- name: Install Dependencies
	run: \|
	sudo apt-get update -qq
	sudo apt-get install -qq -y perl

	- name: Check Style
	run: \|
	tests/misc/check_style.pl


	check-tests:
	name: 'Check Devices Tests'
	needs: select_environment
	runs-on: ubuntu-20.04
	steps:
	- name: Clone repository
	uses: actions/checkout@v3
	with:
	repository: ${{ needs.select_environment.outputs.repository }}
	ref: ${{ needs.select_environment.outputs.ref }}

	- name: Install Dependencies
	run: \|
	sudo apt-get update -qq
	sudo apt-get install -qq -y python3

	- name: Check Devices Tests
	run: \|
	python3 tests/misc/check_tests.py


	run-cmake:
	name: 'Run CMake [CMake ${{ matrix.config.cmake_version }} (${{ matrix.config.cmake_generator }}), YCM ${{ matrix.config.ycm_version }}]'
	needs: [select_environment, check-license, check-style]
	runs-on: ubuntu-22.04
	strategy:
	fail-fast: false
	matrix:
	config:
	- {
	cmake_version: "3.19.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.20.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.20.*",
	cmake_generator: "Ninja",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.21.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.22.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.23.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.24.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.25.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.26.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.27.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	- {
	cmake_version: "3.28.*",
	cmake_generator: "Unix Makefiles",
	ycm_version: "0.15.3",
	}
	steps:
	- name: remove any previous installation of cmake
	run: \|
	sudo rm /usr/local/bin/cmake

	- name: install cmake
	run: \|
	wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null \| gpg --dearmor - \| sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
	echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' \| sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
	sudo apt-get update
	sudo rm /usr/share/keyrings/kitware-archive-keyring.gpg
	sudo apt-get -y install kitware-archive-keyring
	sudo apt-cache policy cmake-data
	sudo apt-cache policy cmake
	sudo apt-get -y install cmake-data=${{matrix.config.cmake_version}}
	sudo apt-get -y -f install cmake=${{matrix.config.cmake_version}}

	- name: Print CMake version
	run: \|
	which cmake
	cmake --version
	/usr/bin/cmake --version

	- name: Get YCM package
	run: \|
	wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
	sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

	- name: Print YCM version
	run: \|
	grep YCM_VERSION /usr/share/cmake/YCM/YCMConfig.cmake

	- name: Clone Yarp repository
	uses: actions/checkout@v3
	with:
	repository: ${{ needs.select_environment.outputs.repository }}
	ref: ${{ needs.select_environment.outputs.ref }}

	- name: Run CMake
	run: \|
	mkdir build
	cd build
	cmake .. -DSKIP_ACE=ON


	build:
	name: '[${{ matrix.config.id }}][${{ matrix.config.os }}\|${{ matrix.config.cc }}\|${{ matrix.config.cmake_generator }} (${{ matrix.config.cmake_toolset }} ${{ matrix.config.cmake_platform }})\|${{ matrix.config.build_type }}] ${{ matrix.config.description }}'
	needs: [select_environment, run-cmake]
	runs-on: ${{ matrix.config.os }}
	strategy:
	fail-fast: false
	matrix:
	config:
	- {
	id: '01',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	test_external_bindings: true,
	}
	- {
	id: '02',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	test_external_bindings: true,
	}
	- {
	id: '03',
	description: 'No ACE',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE=ON
	-DSKIP_ACE:BOOL=ON",
	test_external_bindings: true,
	}
	- {
	id: '04',
	description: 'No ACE',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
	-DSKIP_ACE:BOOL=ON",
	test_external_bindings: true,
	}
	- {
	id: '05',
	description: 'No YARP_math (bindings disabled)',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
	-DYARP_COMPILE_libYARP_math:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '06',
	description: 'No YARP_math (bindings disabled)',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
	-DYARP_COMPILE_libYARP_math:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '07',
	description: 'CLEAN_API (unit tests and bindings disabled)',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
	-DYARP_COMPILE_TESTS:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '08',
	description: 'CLEAN_API (unit tests and bindings disabled)',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
	-DYARP_COMPILE_TESTS:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '09',
	description: 'Static',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
	}
	- {
	id: '10',
	description: 'Static',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
	}
	- {
	id: '11',
	description: 'Static, no ACE (bindings disabled)',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
	-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
	-DSKIP_ACE:BOOL=ON
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '12',
	description: 'Static, no ACE (bindings disabled)',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
	-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
	-DSKIP_ACE:BOOL=ON
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '13',
	description: 'No deprecated',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
	}
	- {
	id: '14',
	description: 'No deprecated',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
	}
	- {
	id: '15',
	description: 'No executables (unit tests disabled)',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
	-DYARP_COMPILE_TESTS:BOOL=OFF",
	}
	- {
	id: '16',
	description: 'No executables (unit tests disabled)',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
	-DYARP_COMPILE_TESTS:BOOL=OFF",
	}
	- {
	id: '17',
	description: 'Build extern dependencies',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
	}
	- {
	id: '18',
	description: 'Build extern dependencies',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
	}
	- {
	id: '19',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Ninja",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	}
	- {
	id: '20',
	os: ubuntu-22.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Ninja",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	}
	- {
	id: '21',
	description: 'Valgrind (bindings, failing tests, guis and examples as tests disabled)',
	os: ubuntu-22.04,
	build_type: "Debug",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_VALGRIND_TESTS:BOOL=ON
	-DYARP_DISABLE_FAILING_TESTS:BOOL=ON
	-DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
	-DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF
	-DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
	-DYARP_COMPILE_GUIS:BOOL=OFF
	-DENABLE_yarpmod_usbCamera:BOOL=OFF
	-DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
	-DENABLE_yarpmod_portaudio:BOOL=OFF
	-DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
	-DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
	-DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
	}
	- {
	id: '22',
	description: 'Valgrind, No ACE (bindings, failing tests, guis and examples as tests disabled)',
	os: ubuntu-22.04,
	build_type: "Debug",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
	-DSKIP_ACE:BOOL=ON
	-DYARP_VALGRIND_TESTS:BOOL=ON
	-DYARP_DISABLE_FAILING_TESTS:BOOL=ON
	-DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
	-DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF
	-DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
	-DYARP_COMPILE_GUIS:BOOL=OFF
	-DENABLE_yarpmod_usbCamera:BOOL=OFF
	-DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
	-DENABLE_yarpmod_portaudio:BOOL=OFF
	-DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
	-DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
	-DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
	}
	- {
	id: '101',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	test_external_bindings: true,
	}
	- {
	id: '102',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	test_external_bindings: true,
	}
	- {
	id: '103',
	description: 'No ACE',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE=ON
	-DSKIP_ACE:BOOL=ON",
	test_external_bindings: true,
	}
	- {
	id: '104',
	description: 'No ACE',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
	-DSKIP_ACE:BOOL=ON",
	test_external_bindings: true,
	}
	- {
	id: '105',
	description: 'No YARP_math (bindings disabled)',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
	-DYARP_COMPILE_libYARP_math:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '106',
	description: 'No YARP_math (bindings disabled)',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON
	-DYARP_COMPILE_libYARP_math:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '107',
	description: 'CLEAN_API (unit tests and bindings disabled)',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
	-DYARP_COMPILE_TESTS:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '108',
	description: 'CLEAN_API (unit tests and bindings disabled)',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON
	-DYARP_COMPILE_TESTS:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '109',
	description: 'Static',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
	}
	- {
	id: '110',
	description: 'Static',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF",
	}
	- {
	id: '111',
	description: 'Static, no ACE (bindings disabled)',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
	-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
	-DSKIP_ACE:BOOL=ON
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '112',
	description: 'Static, no ACE (bindings disabled)',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF
	-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
	-DSKIP_ACE:BOOL=ON
	-DYARP_COMPILE_BINDINGS:BOOL=OFF",
	}
	- {
	id: '113',
	description: 'No deprecated',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
	}
	- {
	id: '114',
	description: 'No deprecated',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON",
	}
	- {
	id: '115',
	description: 'No executables (unit tests disabled)',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
	-DYARP_COMPILE_TESTS:BOOL=OFF",
	}
	- {
	id: '116',
	description: 'No executables (unit tests disabled)',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF
	-DYARP_COMPILE_TESTS:BOOL=OFF",
	}
	- {
	id: '117',
	description: 'Build extern dependencies',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
	}
	- {
	id: '118',
	description: 'Build extern dependencies',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON
	-DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON",
	}
	- {
	id: '119',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Ninja",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	}
	- {
	id: '120',
	os: ubuntu-24.04,
	build_type: "Release",
	cc: "clang-17",
	cxx: "clang++-17",
	cmake_generator: "Ninja",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	}
	- {
	id: '121',
	description: 'Valgrind (bindings, failing tests, guis and examples as tests disabled)',
	os: ubuntu-24.04,
	build_type: "Debug",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DYARP_VALGRIND_TESTS:BOOL=ON
	-DYARP_DISABLE_FAILING_TESTS:BOOL=ON
	-DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
	-DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF
	-DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
	-DYARP_COMPILE_GUIS:BOOL=OFF
	-DENABLE_yarpmod_usbCamera:BOOL=OFF
	-DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
	-DENABLE_yarpmod_portaudio:BOOL=OFF
	-DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
	-DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
	-DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
	}
	- {
	id: '122',
	description: 'Valgrind, No ACE (bindings, failing tests, guis and examples as tests disabled)',
	os: ubuntu-24.04,
	build_type: "Debug",
	cc: "gcc",
	cxx: "g++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake",
	cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON
	-DSKIP_ACE:BOOL=ON
	-DYARP_VALGRIND_TESTS:BOOL=ON
	-DYARP_DISABLE_FAILING_TESTS:BOOL=ON
	-DYARP_DISABLE_FAILING_VALGRIND_TESTS:BOOL=ON
	-DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF
	-DYARP_COMPILE_BINDINGS:BOOL=OFF
	-DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON
	-DYARP_COMPILE_GUIS:BOOL=OFF
	-DENABLE_yarpmod_usbCamera:BOOL=OFF
	-DENABLE_yarpmod_usbCameraRaw:BOOL=OFF
	-DENABLE_yarpmod_portaudio:BOOL=OFF
	-DENABLE_yarpmod_portaudioPlayer:BOOL=OFF
	-DENABLE_yarpmod_portaudioRecorder:BOOL=OFF
	-DENABLE_yarpmod_opencv_grabber:BOOL=OFF",
	}
	- {
	id: '201',
	os: windows-2019,
	build_type: "Release",
	cc: "cl",
	cxx: "cl",
	cmake_generator: "Visual Studio 16 2019",
	cmake_toolset: "v142",
	cmake_platform: "x64",
	cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
	cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
	environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
	}
	- {
	id: '202',
	os: windows-2019,
	build_type: "Release",
	cc: "cl",
	cxx: "cl",
	cmake_generator: "Visual Studio 16 2019",
	cmake_toolset: "v141",
	cmake_platform: "x64",
	cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
	cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
	environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
	}
	- {
	id: '203',
	os: windows-2019,
	build_type: "Release",
	cc: "cl",
	cxx: "cl",
	cmake_generator: "Ninja",
	cmake_toolset: "v142",
	cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
	cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
	environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
	}
	- {
	id: '204',
	os: windows-2019,
	build_type: "Release",
	cc: "cl",
	cxx: "cl",
	cmake_generator: "Ninja",
	cmake_toolset: "v141",
	cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
	cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
	environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
	}
	- {
	id: '205',
	os: windows-2022,
	build_type: "Release",
	cc: "cl",
	cxx: "cl",
	cmake_generator: "Visual Studio 17 2022",
	cmake_toolset: "v143",
	cmake_platform: "x64",
	cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
	cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
	environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2022/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
	}
	- {
	id: '206',
	os: windows-2022,
	build_type: "Release",
	cc: "cl",
	cxx: "cl",
	cmake_generator: "Visual Studio 17 2022",
	cmake_toolset: "v142",
	cmake_platform: "x64",
	cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake",
	cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake",
	environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2022/Enterprise/VC/Auxiliary/Build/vcvars64.bat",
	}
	- {
	id: '301',
	os: macos-13,
	build_type: "Release",
	cc: "clang",
	cxx: "clang++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
	}
	- {
	id: '302',
	os: macos-13,
	build_type: "Release",
	cc: "clang",
	cxx: "clang++",
	cmake_generator: "Xcode",
	cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
	}
	- {
	id: '303',
	os: macos-12,
	build_type: "Release",
	cc: "clang",
	cxx: "clang++",
	cmake_generator: "Unix Makefiles",
	cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
	}
	- {
	id: '304',
	os: macos-12,
	build_type: "Release",
	cc: "clang",
	cxx: "clang++",
	cmake_generator: "Xcode",
	cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake",
	}

	steps:

	- name: Clone repository
	uses: actions/checkout@v3
	with:
	repository: ${{ needs.select_environment.outputs.repository }}
	ref: ${{ needs.select_environment.outputs.ref }}

	- name: Handle cache
	uses: actions/cache@v3
	with:
	path: \|
	.ccache
	key: build-${{ matrix.config.id }}-ccache-${{ github.ref }}-${{ needs.select_environment.outputs.timestamp }}
	restore-keys: \|
	build-${{ matrix.config.id }}-${{ github.base_ref }}-ccache-
	build-${{ matrix.config.id }}-${{ github.ref }}-ccache-

	- name: Dependencies [Linux]
	if: runner.os == 'Linux'
	shell: bash
	run: \|
	# Install dep for gstreamer. It must be the first one.
	sudo apt-get update
	sudo apt-get install -y libunwind-dev

	#Install clang 17
	sudo apt-get purge -y llvm* clang*
	wget -nv https://apt.llvm.org/llvm.sh
	sudo chmod +x llvm.sh
	sudo ./llvm.sh 17

	# Install Robotology dependencies from robotology ppa
	sudo apt-add-repository -y ppa:robotology/ppa
	sudo apt-get install -qq -y librobottestingframework-dev
	sudo apt-get update

	# Install cmake
	sudo apt-get install -qq -y cmake
	which cmake
	cmake --version
	/usr/bin/cmake --version

	# Install ycm
	wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
	sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

	# Install build tools
	sudo apt-get install -qq -y ccache \
	ninja-build \
	valgrind

	sudo apt-get install -y libace-dev

	sudo apt-get install -y libsqlite3-dev \
	libtinyxml-dev \
	libedit-dev \
	qtbase5-dev \
	qtdeclarative5-dev \
	qtmultimedia5-dev \
	libqt5opengl5-dev \
	libqcustomplot-dev \
	libopencv-dev \
	libeigen3-dev \
	libgraphviz-dev \
	libpng-dev \
	libv4l-dev \
	libavcodec-dev \
	libavdevice-dev \
	libavformat-dev \
	libavutil-dev \
	portaudio19-dev \
	libsdl1.2-dev \
	libopenni2-dev \
	libftdi-dev \
	libi2c-dev \
	libjpeg-dev \
	libpcl-dev \
	libsoxr-dev

	sudo apt-get install -y libgstreamer1.0-dev \
	libgstreamer-plugins-base1.0-dev

	# Install bindings dependencies
	sudo apt-get install -qq -y mono-mcs \
	liblua5.3-dev \
	lua5.3 \
	tcl-dev \
	tk-dev \
	python3-dev \
	octave-dev \
	ruby-dev \
	ruby \
	perl

	# Install SWIG
	# On Ubuntu 24.04 this corresponds to swig 4.2.0 which is affected by a bug: https://github.com/robotology/yarp/issues/3083
	# sudo apt-get install -qq -y swig
	#
	# we thus install manually swig 4.2.1
	sudo apt-get purge -y swig
	wget -nv https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
	unzip -q swig_4_2_1_ubuntu_24_04.zip
	sudo mv swig_4_2_1_ubuntu_24_04_install/bin/* /usr/bin
	sudo mv swig_4_2_1_ubuntu_24_04_install/share/swig /usr/share
	echo "BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS=-DSWIG_EXECUTABLE=/usr/bin/swig -DSWIG_DIR=/usr/share/swig/4.2.1" >> $GITHUB_ENV
	cat $GITHUB_ENV
	echo "$BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS"

	# Other tools useful in github actions
	sudo apt-get install -qq -y jq \
	wget \
	curl \
	lcov \
	gcovr \
	xsltproc \
	libxml2-utils \
	source-highlight

	# Remove old packages from apt cache
	sudo apt-get autoclean -qq

	- name: Dependencies [Windows]
	if: runner.os == 'Windows'
	run: \|
	echo "To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need"
	choco install --no-progress -y wget 7zip
	echo ""
	echo " Download and install SWIG"
	wget -nv https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip -O swigwin.zip
	7z x swigwin.zip
	mv swigwin-4.2.1/swig.exe swig.exe
	echo ""
	echo " To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg that has been used to create the pre-compiled archive"
	wget -nv https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/v0.10.1/vcpkg-robotology-yarp-only.zip
	7z x -oC:\ vcpkg-robotology-yarp-only.zip
	echo ""
	echo " Download and install YCM "
	wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.tar.gz -O ycm.tar.gz
	7z x ycm.tar.gz
	7z x -ttar -oC:\robotology ycm.tar
	echo ""
	echo " Download and install ccache "
	wget -nv https://github.com/cristianadam/ccache/releases/download/v3.7.7/Windows.tar.xz -O ccache.tar.xz
	7z x ccache.tar.xz
	7z x -ttar ccache.tar

	- name: Dependencies [macOS]
	if: runner.os == 'macOS'
	run: \|
	# Temporary workaround for https://github.com/actions/setup-python/issues/577
	rm -f /usr/local/bin/2to3
	rm -f /usr/local/bin/2to3-3.11
	rm -f /usr/local/bin/2to3-3.12
	rm -f /usr/local/bin/idle3
	rm -f /usr/local/bin/idle3.11
	rm -f /usr/local/bin/idle3.12
	rm -f /usr/local/bin/pydoc3
	rm -f /usr/local/bin/pydoc3.11
	rm -f /usr/local/bin/pydoc3.12
	rm -f /usr/local/bin/python3
	rm -f /usr/local/bin/python3.11
	rm -f /usr/local/bin/python3.12
	rm -f /usr/local/bin/python3-config
	rm -f /usr/local/bin/python3.11-config
	rm -f /usr/local/bin/python3.12-config

	wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.tar.gz -O /Users/runner/work/yarp/ycm.tar.gz
	7z x /Users/runner/work/yarp/ycm.tar.gz -o/Users/runner/work/yarp
	7z x -ttar /Users/runner/work/yarp/ycm.tar -o/Users/runner/work/yarp

	brew update
	brew install ccache
	brew install ace
	brew install sqlite tinyxml libedit libpng qt5 opencv eigen graphviz libsoxr

	- name: Prepare Environment Script
	id: prepare_environment_script
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	set(_env_script ${CMAKE_CURRENT_LIST_DIR}/environment_script.cmake)
	file(WRITE "${_env_script}" "")

	# if YCM is installed manually, set YCM_DIR to allow CMake to find it
	if("${{ runner.os }}" STREQUAL "Windows")
	file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"C:\\\\robotology\\\\YCM-0.15.3-all\")\n")
	elseif("${{ runner.os }}" STREQUAL "macOS")
	file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"/Users/runner/work/yarp/YCM-0.15.3-all\")\n")
	endif()

	if("${{ runner.os }}" STREQUAL "Windows" AND NOT "${{ matrix.config.environment_script }}" STREQUAL "")
	execute_process(
	COMMAND "${{ matrix.config.environment_script }}" && set
	OUTPUT_FILE environment_script_output.txt
	)
	file(STRINGS environment_script_output.txt output_lines)

	foreach(line IN LISTS output_lines)
	if(line MATCHES "^([a-zA-Z0-9_-]+)=(.*)$")
	set(_key "${CMAKE_MATCH_1}")
	set(_value "${CMAKE_MATCH_2}")
	string(REPLACE "\\" "\\\\" _value "${_value}")
	file(APPEND "${_env_script}" "set(ENV{${_key}} \"${_value}\")\n")
	endif()
	endforeach()

	# Ninja and other tools are downloaded in $GITHUB_WORKSPACE
	file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\")\n")

	# Append vcpkg bin directory to the PATH
	if("${{ matrix.config.build_type }}" STREQUAL "Release")
	file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\bin\")\n")
	else()
	file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\debug\\\\bin\")\n")
	endif()

	# Append output bin directory to the PATH
	if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio")
	file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\\\\${{ matrix.config.build_type }}\")\n")
	elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja")
	file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\")\n")
	endif()
	endif()

	file(APPEND "${_env_script}" "set(ENV{CC} ${{ matrix.config.cc }})\n")
	file(APPEND "${_env_script}" "set(ENV{CXX} ${{ matrix.config.cxx }})\n")

	if("${{ matrix.config.cc }}" MATCHES "gcc")
	file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fdiagnostics-color=always)\n")
	file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fdiagnostics-color=always)\n")
	elseif("${{ matrix.config.cc }}" MATCHES "^clang.*")
	file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fcolor-diagnostics)\n")
	file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fcolor-diagnostics)\n")
	endif()

	file(APPEND "${_env_script}" "file(TO_CMAKE_PATH \"\$ENV{GITHUB_WORKSPACE}\" ccache_basedir)\n")
	file(APPEND "${_env_script}" "set(ENV{CCACHE_BASEDIR} \"\${ccache_basedir}\")\n")
	file(APPEND "${_env_script}" "set(ENV{CCACHE_DIR} \"\${ccache_basedir}/.ccache\")\n")
	file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESS} \"true\")\n")
	file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESSLEVEL} \"6\")\n")
	if("${{ matrix.config.cxx }}" STREQUAL "cl")
	file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"600M\")\n")
	else()
	file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"400M\")\n")
	endif()
	# Force ccache to build the original cpp file instead of the pre-processed file
	file(APPEND "${_env_script}" "set(ENV{CCACHE_CPP2} \"yes\")\n")

	# Prepend ccache lib dir on Linux and macOS
	if("${{ runner.os }}" STREQUAL "Linux")
	file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/lib/ccache:\$ENV{PATH}\")\n")
	elseif("${{ runner.os }}" STREQUAL "macOS")
	file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/local/opt/ccache/libexec:\$ENV{PATH}\")\n")
	endif()

	# CMake/CTest variables
	file(APPEND "${_env_script}" "set(ENV{CTEST_OUTPUT_ON_FAILURE} \"1\")\n")
	file(APPEND "${_env_script}" "set(ENV{CLICOLOR_FORCE} \"1\")\n")

	# YARP variables
	file(APPEND "${_env_script}" "set(ENV{YARP_PORT_RANGE} \"20000\")\n")

	# Add execute_process_x() macro
	file(APPEND "${_env_script}" "
	function(execute_process_x)
	set(_options)
	set(_oneValueArgs RESULT_VARIABLE WORKING_DIRECTORY)
	set(_multiValueArgs COMMAND)
	cmake_parse_arguments(_x \"\${_options}\" \"\${_oneValueArgs}\" \"\${_multiValueArgs}\" \${ARGN})

	string(REPLACE \";\" \" \" _cmd \"\${_x_COMMAND}\")
	string(REPLACE \"\\\\\" \"\\\\\\\\\" _cmd \"\${_cmd}\")
	message(STATUS \"\\n\$ \${_cmd}\")

	if(DEFINED _x_WORKING_DIRECTORY)
	set(_wd WORKING_DIRECTORY \"\${_x_WORKING_DIRECTORY}\")
	endif()
	execute_process(COMMAND \${_x_COMMAND}
	\${_wd}
	RESULT_VARIABLE _result)
	if(NOT _result EQUAL 0)
	message(WARNING \"The command \\\"\${_cmd}\\\" failed with result \\\"\${_result}\\\"\")
	endif()
	if(DEFINED _x_RESULT_VARIABLE)
	set(\${_x_RESULT_VARIABLE} \${_result} PARENT_SCOPE)
	endif()
	endfunction()
	")

	file(APPEND "$ENV{GITHUB_OUTPUT}" "environment_script=${_env_script}\n")

	- name: Print Environment Script
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	file(READ "${{ steps.prepare_environment_script.outputs.environment_script }}" _out)
	message("${_out}")

	- name: Print system information
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	set(_which_cmd which)
	set(_env_cmd env)
	if("${{ runner.os }}" STREQUAL "Windows")
	set(_which_cmd where)
	set(_env_cmd env)
	endif()

	if(UNIX)
	execute_process_x(COMMAND uname -a)
	endif()

	if("${{ runner.os }}" STREQUAL "Linux")
	execute_process_x(COMMAND lsb_release -a)
	execute_process_x(COMMAND cat /etc/apt/sources.list)
	execute_process_x(COMMAND ls -la --color=always /etc/apt/sources.list.d)
	file(GLOB _list_files "/etc/apt/sources.list.d/*.list")
	foreach(_list_file IN LISTS _list_files)
	execute_process_x(COMMAND cat ${_list_file})
	endforeach()
	elseif("${{ runner.os }}" STREQUAL "macOS")
	execute_process_x(COMMAND system_profiler SPSoftwareDataType)
	elseif("${{ runner.os }}" STREQUAL "Windows")
	execute_process_x(COMMAND Systeminfo)
	endif()

	execute_process_x(COMMAND ${_which_cmd} cmake)
	execute_process_x(COMMAND cmake --version)

	if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio")
	execute_process_x(COMMAND ${_which_cmd} msbuild)
	execute_process_x(COMMAND msbuild /version)
	elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja")
	execute_process_x(COMMAND ${_which_cmd} ninja)
	execute_process_x(COMMAND ninja --version)
	elseif("${{ matrix.config.cmake_generator }}" MATCHES "Unix Makefiles")
	execute_process_x(COMMAND ${_which_cmd} make)
	execute_process_x(COMMAND make --version)
	elseif("${{ matrix.config.cmake_generator }}" MATCHES "Xcode")
	execute_process_x(COMMAND ${_which_cmd} xcodebuild)
	execute_process_x(COMMAND xcodebuild -version)
	endif()

	execute_process_x(COMMAND ${_which_cmd} $ENV{CC})
	execute_process_x(COMMAND ${_which_cmd} $ENV{CXX})
	if("$ENV{CC}" STREQUAL "cl")
	execute_process_x(COMMAND $ENV{CC})
	execute_process_x(COMMAND $ENV{CXX})
	else()
	execute_process_x(COMMAND $ENV{CC} --version)
	execute_process_x(COMMAND $ENV{CXX} --version)
	endif()

	execute_process_x(COMMAND ${_which_cmd} ccache)
	execute_process_x(COMMAND ccache --version)
	execute_process_x(COMMAND ccache -p)
	if("${{ runner.os }}" STREQUAL "Linux")
	execute_process_x(COMMAND ls -la --color=always /usr/lib/ccache)
	execute_process_x(COMMAND ls -la --color=always $ENV{HOME}/lib/ccache)
	endif()

	execute_process_x(COMMAND ${_which_cmd} swig)
	execute_process_x(COMMAND swig -version)

	execute_process_x(COMMAND ${_which_cmd} javac)
	execute_process_x(COMMAND javac -version)

	if("${{ runner.os }}" STREQUAL "Linux")
	execute_process_x(COMMAND netstat -tulpn)
	endif()

	execute_process_x(COMMAND ${_env_cmd})

	- name: Configure
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	set(_generator)
	if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "")
	set(_generator -G "${{ matrix.config.cmake_generator }}")
	endif()

	set(_toolset)
	if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "")
	list(APPEND toolset -T ${{ matrix.config.cmake_toolset }})
	endif()

	set(_platform)
	if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "")
	list(APPEND _platform -A ${{ matrix.config.cmake_platform }})
	endif()

	set(_initial_cache_file)
	if(NOT "${{ matrix.config.cmake_initial_cache_file }}" STREQUAL "")
	set(_initial_cache_file -C "${{ matrix.config.cmake_initial_cache_file }}")
	endif()

	set(_toolchain_file)
	if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "")
	set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }})
	endif()

	set(_build_type)
	if(NOT "${{ matrix.config.build_type }}" STREQUAL "")
	set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }})
	endif()

	file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix)
	set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix})

	set(_cmake_compiler_lauchers )
	if("${{ runner.os }}" STREQUAL "Windows")
	find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE)
	set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd}
	-D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd})
	endif()

	set(_cmake_extra_options)
	if(NOT "${{ matrix.config.cmake_extra_options }}" STREQUAL "")
	set(_cmake_extra_options ${{ matrix.config.cmake_extra_options }})
	endif()

	#SWIG bugfix
	cat $GITHUB_ENV
	echo "$BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS"
	set (_cmake_extra_options ${_cmake_extra_options} ${BUGFIX_SWIG_CMAKE_EXTRA_OPTIONS})

	execute_process_x(
	COMMAND ${CMAKE_COMMAND}
	-S .
	-B build
	${_generator}
	${_toolset}
	${_platform}
	${_initial_cache_file}
	${_toolchain_file}
	${_build_type}
	${_install_prefix}
	${_cmake_compiler_lauchers}
	${_cmake_extra_options}
	RESULT_VARIABLE _result
	)
	if(NOT _result EQUAL 0)
	message(FATAL_ERROR "Configure step failed")
	endif()

	- name: Build
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	execute_process_x(
	COMMAND ${CMAKE_COMMAND}
	--build build
	--config ${{ matrix.config.build_type }}
	RESULT_VARIABLE _result
	)
	if(NOT _result EQUAL 0)
	message(FATAL_ERROR "Build step failed")
	endif()

	# Print ccache stats
	execute_process_x(COMMAND ccache -s)

	# Reset ccache stats before uploading
	execute_process_x(COMMAND ccache -z)

	- name: Run tests
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	execute_process_x(
	COMMAND ${CMAKE_CTEST_COMMAND}
	--build-config ${{ matrix.config.build_type }}
	# We have random race conditions.
	# Allow up to 3 run of the same test
	--repeat until-pass:3
	--output-on-failure
	WORKING_DIRECTORY build
	RESULT_VARIABLE result
	)
	if(NOT result EQUAL 0)
	message(FATAL_ERROR "Test step failed")
	endif()

	- name: Status Check
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	execute_process_x(
	COMMAND git status --porcelain=v1
	WORKING_DIRECTORY .
	RESULT_VARIABLE result
	OUTPUT_VARIABLE output
	)
	if(NOT result EQUAL 0)
	message(FATAL_ERROR "Test step failed")
	endif()

	string(REGEX REPLACE "\n" ";" output "${output}")

	foreach(f IN LISTS output)
	string(REGEX REPLACE ".+ " "" f "${f}")
	message("::error file=${f},line=1,col=1::File modified.")
	endforeach()
	list(LENGTH output output_size)

	if(NOT output_size EQUAL 0)
	message(FATAL_ERROR "During build and tests, ${output_size} files were modified")
	endif()

	- name: Test installation
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	execute_process_x(
	COMMAND ${CMAKE_COMMAND}
	--install build
	--config ${{ matrix.config.build_type }}
	--strip
	RESULT_VARIABLE _result
	)
	if(NOT _result EQUAL 0)
	message(FATAL_ERROR "Installation step failed")
	endif()

	- name: Test bindings from build tree
	if: matrix.config.test_external_bindings
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	### FIXME Can we avoid this duplication?

	set(_generator)
	if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "")
	set(_generator -G "${{ matrix.config.cmake_generator }}")
	endif()

	set(_toolset)
	if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "")
	list(APPEND toolset -T ${{ matrix.config.cmake_toolset }})
	endif()

	set(_platform)
	if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "")
	list(APPEND _platform -A ${{ matrix.config.cmake_platform }})
	endif()

	set(_initial_cache_file -C "$ENV{GITHUB_WORKSPACE}/.ci/bindings-cache.cmake")

	file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix)
	set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix})

	set(_toolchain_file)
	if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "")
	set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }})
	endif()

	set(_build_type)
	if(NOT "${{ matrix.config.build_type }}" STREQUAL "")
	set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }})
	endif()

	set(_cmake_compiler_lauchers )
	if("${{ runner.os }}" STREQUAL "Windows")
	find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE)
	set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd}
	-D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd})
	endif()

	execute_process_x(
	COMMAND ${CMAKE_COMMAND}
	-S bindings
	-B build-bindings-build-tree
	${_generator}
	${_toolset}
	${_platform}
	${_initial_cache_file}
	${_toolchain_file}
	${_build_type}
	${_install_prefix}
	${_cmake_compiler_lauchers}
	${_cmake_extra_options}
	-DYARP_DIR=$ENV{GITHUB_WORKSPACE}/build
	RESULT_VARIABLE _result
	)
	if(NOT _result EQUAL 0)
	message(FATAL_ERROR "Configure bindings from build tree step failed")
	endif()

	execute_process_x(
	COMMAND ${CMAKE_COMMAND}
	--build build-bindings-build-tree
	--config ${{ matrix.config.build_type }}
	RESULT_VARIABLE _result
	)
	if(NOT _result EQUAL 0)
	message(FATAL_ERROR "Build bindings from build tree step failed")
	endif()

	- name: Test bindings from install tree
	if: matrix.config.test_external_bindings
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	### FIXME Can we avoid this duplication?

	set(_generator)
	if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "")
	set(_generator -G "${{ matrix.config.cmake_generator }}")
	endif()

	set(_toolset)
	if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "")
	list(APPEND toolset -T ${{ matrix.config.cmake_toolset }})
	endif()

	set(_platform)
	if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "")
	list(APPEND _platform -A ${{ matrix.config.cmake_platform }})
	endif()

	set(_initial_cache_file -C "$ENV{GITHUB_WORKSPACE}/.ci/bindings-cache.cmake")

	file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix)
	set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix})

	set(_toolchain_file)
	if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "")
	set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }})
	endif()

	set(_build_type)
	if(NOT "${{ matrix.config.build_type }}" STREQUAL "")
	set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }})
	endif()

	set(_cmake_compiler_lauchers )
	if("${{ runner.os }}" STREQUAL "Windows")
	find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE)
	set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd}
	-D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd})
	endif()

	execute_process_x(
	COMMAND ${CMAKE_COMMAND}
	-S bindings
	-B build-bindings-install-tree
	${_generator}
	${_toolset}
	${_platform}
	${_initial_cache_file}
	${_toolchain_file}
	${_build_type}
	${_install_prefix}
	${_cmake_compiler_lauchers}
	${_cmake_extra_options}
	-DYARP_DIR=$ENV{GITHUB_WORKSPACE}/install/lib/cmake/YARP
	RESULT_VARIABLE _result
	)
	if(NOT _result EQUAL 0)
	message(FATAL_ERROR "Configure bindings from install tree step failed")
	endif()

	execute_process_x(
	COMMAND ${CMAKE_COMMAND}
	--build build-bindings-install-tree
	--config ${{ matrix.config.build_type }}
	RESULT_VARIABLE _result
	)
	if(NOT _result EQUAL 0)
	message(FATAL_ERROR "Build bindings from build tree step failed")
	endif()

	- name: Compress installation files
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	execute_process_x(
	COMMAND ${CMAKE_COMMAND} -E tar cvf $ENV{GITHUB_WORKSPACE}/install.tar --format=gnutar --files-from=$ENV{GITHUB_WORKSPACE}/build/install_manifest.txt
	WORKING_DIRECTORY "$ENV{GITHUB_WORKSPACE}/install"
	)

	- name: Upload artifact
	uses: actions/upload-artifact@v3
	with:
	name: installation-${{ matrix.config.id }}
	path: install.tar
	retention-days: 2

	- name: Cleanup
	shell: cmake -P {0}
	run: \|
	cmake_minimum_required(VERSION 3.19)
	include(${{ steps.prepare_environment_script.outputs.environment_script }})

	# Reset ccache stats before uploading
	execute_process_x(COMMAND ccache -z)


	codacy-clang-tidy:
	environment: code-analysis
	name: 'Codacy - clang-tidy'
	needs: [select_environment, run-cmake]
	runs-on: ubuntu-22.04
	steps:
	- name: Clone repository
	uses: actions/checkout@v3
	with:
	repository: ${{ needs.select_environment.outputs.repository }}
	ref: ${{ needs.select_environment.outputs.ref }}

	# This step is copied from the build step, please keep them in sync until we
	# find a better way to do it automatically
	- name: Dependencies [Linux]
	if: runner.os == 'Linux'
	shell: bash
	run: \|
	# Install dep for gstreamer. It must be the first one.
	sudo apt-get update
	sudo apt-get install -y libunwind-dev

	# Install Robotology dependencies from robotology ppa
	sudo apt-add-repository -y ppa:robotology/ppa
	sudo apt-get install -qq -y librobottestingframework-dev

	# Install cmake
	sudo apt-get install -qq -y cmake
	which cmake
	cmake --version
	/usr/bin/cmake --version

	# Install ycm
	wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
	sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

	# Install build tools
	sudo apt-get install -qq -y ccache \
	ninja-build \
	valgrind \
	openjdk-17-jdk \
	openjdk-17-jre

	sudo apt-get install -qq -y libace-dev \
	libsqlite3-dev \
	libtinyxml-dev \
	libedit-dev \
	qtbase5-dev \
	qtdeclarative5-dev \
	qtmultimedia5-dev \
	libqt5opengl5-dev \
	libqcustomplot-dev \
	libopencv-dev \
	libeigen3-dev \
	libgraphviz-dev \
	libpng-dev \
	libv4l-dev \
	libavcodec-dev \
	libavdevice-dev \
	libavformat-dev \
	libavutil-dev \
	portaudio19-dev \
	libsdl1.2-dev \
	libopenni2-dev \
	libftdi-dev \
	libi2c-dev \
	libjpeg-dev \
	libpcl-dev

	sudo apt-get install -y libgstreamer1.0-dev \
	libgstreamer-plugins-base1.0-dev

	# Install bindings dependencies
	sudo apt-get install -qq -y mono-mcs \
	liblua5.3-dev \
	lua5.3 \
	tcl-dev \
	tk-dev \
	python3-dev \
	liboctave-dev \
	ruby-dev \
	ruby \
	perl

	# Install SWIG
	# On Ubuntu 24.04 this corresponds to swig 4.2.0 which is affected by a bug: https://github.com/robotology/yarp/issues/3083
	# sudo apt-get install -qq -y swig
	#
	# we thus install manually swig 4.2.1
	sudo apt-get purge -y swig
	wget -nv https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
	unzip -q swig_4_2_1_ubuntu_24_04.zip
	sudo mv swig_4_2_1_ubuntu_24_04_install/bin/* /usr/bin
	sudo mv swig_4_2_1_ubuntu_24_04_install/share/swig /usr/share

	# Other tools useful in github actions
	sudo apt-get install -qq -y jq \
	wget \
	curl \
	lcov \
	gcovr \
	wget \
	curl \
	xsltproc \
	libxml2-utils \
	source-highlight

	# Remove old packages from apt cache
	sudo apt-get autoclean -qq

	- name: Prepare environment
	env:
	CODACY_TOKEN: ${{ secrets.CODACY_TOKEN }}
	CLANG_VERSION: 17
	CODACY_CLANG_TIDY_VERSION: 1.3.8
	run: \|
	echo "CLANG_VERSION=${CLANG_VERSION}" >> $GITHUB_ENV
	echo "CC=/usr/bin/clang-${CLANG_VERSION}" >> $GITHUB_ENV
	echo "CXX=/usr/bin/clang++-${CLANG_VERSION}" >> $GITHUB_ENV
	echo "CFLAGS=-fcolor-diagnostics" >> $GITHUB_ENV
	echo "CXXFLAGS=-fcolor-diagnostics" >> $GITHUB_ENV
	echo "CLANG_TIDY=/usr/bin/clang-tidy-${CLANG_VERSION}" >> $GITHUB_ENV
	echo "RUN_CLANG_TIDY=/usr/bin/run-clang-tidy-${CLANG_VERSION}" >> $GITHUB_ENV
	echo "COLORCLI=1" >> $GITHUB_ENV
	echo "CLICOLOR=1" >> $GITHUB_ENV
	echo "CLICOLOR_FORCE=1" >> $GITHUB_ENV
	echo "YARP_COLORED_OUTPUT=1" >> $GITHUB_ENV
	echo "PROJECT_TOKEN=${CODACY_TOKEN}" >> $GITHUB_ENV
	echo "COMMIT=${{ needs.select_environment.outputs.sha }}" >> $GITHUB_ENV
	echo "CODACY_URL=https://api.codacy.com" >> $GITHUB_ENV
	echo "CODACY_CLANG_TIDY_VERSION=${CODACY_CLANG_TIDY_VERSION}" >> $GITHUB_ENV

	- name: Download codacy-clang-tidy
	if: runner.os == 'Linux'
	shell: bash
	run: \|
	#Install clang 17. `all` option is required for clang-tidy
	sudo apt-get purge -y llvm* clang*
	wget -nv https://apt.llvm.org/llvm.sh
	sudo chmod +x llvm.sh
	sudo ./llvm.sh 17 all

	# Download codacy-clang-tidy
	sudo wget https://github.com/codacy/codacy-clang-tidy/releases/download/${CODACY_CLANG_TIDY_VERSION}/codacy-clang-tidy-linux-${CODACY_CLANG_TIDY_VERSION} -O /usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION}
	sudo chmod -v +x /usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION}

	- name: Run CMake
	run: \|
	/usr/bin/cmake -S. -Bbuild \
	-C .ci/initial-cache.gh.linux.cmake \
	-DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \
	-DYARP_NO_DEPRECATED:BOOL=ON \
	-DYARP_COMPILE_BINDINGS:BOOL=OFF

	- name: Link compile_commands.json in the source directory
	run: \|
	ln -s build/compile_commands.json .

	- name: Run make (required for files generated at build time)
	run: \|
	(cd build && make)

	- name: List clang-tidy checks
	run: \|
	# Fix .clang-tidy for clang 10 (see https://reviews.llvm.org/D75621)
	sed -i 's/;h;hh;hpp;hxx/,h,hh,hpp,hxx/g' .clang-tidy

	# Print the .clang-tidy file
	cat .clang-tidy
	echo

	# List checks
	${CLANG_TIDY} -list-checks

	- name: Run clang-tidy
	run: \|
	${RUN_CLANG_TIDY} \| sed "s\|${PWD}/\|\|g" \| tee /tmp/out1

	- name: Convert the clang-tidy output to a format that the Codacy API accepts
	run: \|
	cat /tmp/out1 \| \
	/usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION} \| tee /tmp/out2

	- name: Send the results to Codacy
	run: \|
	set -x
	cat /tmp/out2 \| \
	curl --silent --show-error --fail \
	-XPOST -L -H "project-token: ${PROJECT_TOKEN}" \
	-H "Content-type: application/json" -d @- \
	"${CODACY_URL}/2.0/commit/${COMMIT}/issuesRemoteResults"
	echo

	- name: Signal that Codacy can use the sent results and start a new analysis
	run: \|
	set -x
	curl --silent --show-error --fail \
	-XPOST -L -H "project-token: ${PROJECT_TOKEN}" \
	-H "Content-type: application/json" \
	"${CODACY_URL}/2.0/commit/${COMMIT}/resultsFinal"
	echo


	codacy-coverage:
	environment: code-analysis
	name: 'Codacy - coverage'
	needs: [select_environment, run-cmake]
	runs-on: ubuntu-22.04
	steps:
	- name: Clone repository
	uses: actions/checkout@v3
	with:
	repository: ${{ needs.select_environment.outputs.repository }}
	ref: ${{ needs.select_environment.outputs.ref }}

	# This step is copied from the build step, please keep them in sync until we
	# find a better way to do it automatically
	- name: Dependencies [Linux]
	if: runner.os == 'Linux'
	shell: bash
	run: \|
	# Install dep for gstreamer. It must be the first one.
	sudo apt-get update
	sudo apt-get install -y libunwind-dev

	# Install Robotology dependencies from robotology ppa
	sudo apt-add-repository -y ppa:robotology/ppa
	sudo apt-get install -qq -y librobottestingframework-dev

	# Install cmake
	sudo apt-get install -qq -y cmake
	which cmake
	cmake --version
	/usr/bin/cmake --version

	# Install ycm
	wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
	sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

	# Install build tools
	sudo apt-get install -qq -y ccache \
	ninja-build \
	valgrind \
	openjdk-17-jdk \
	openjdk-17-jre

	sudo apt-get install -qq -y libace-dev \
	libsqlite3-dev \
	libtinyxml-dev \
	libedit-dev \
	qtbase5-dev \
	qtdeclarative5-dev \
	qtmultimedia5-dev \
	libqt5opengl5-dev \
	libqcustomplot-dev \
	libopencv-dev \
	libeigen3-dev \
	libgraphviz-dev \
	libgstreamer1.0-dev \
	libgstreamer-plugins-base1.0-dev \
	libpng-dev \
	libv4l-dev \
	libavcodec-dev \
	libavdevice-dev \
	libavformat-dev \
	libavutil-dev \
	portaudio19-dev \
	libsdl1.2-dev \
	libopenni2-dev \
	libftdi-dev \
	libi2c-dev \
	libjpeg-dev \
	libpcl-dev

	# Install bindings dependencies
	sudo apt-get install -qq -y mono-mcs \
	liblua5.3-dev \
	lua5.3 \
	tcl-dev \
	tk-dev \
	python3-dev \
	liboctave-dev \
	ruby-dev \
	ruby \
	perl

	# Install SWIG
	# On Ubuntu 24.04 this corresponds to swig 4.2.0 which is affected by a bug: https://github.com/robotology/yarp/issues/3083
	# sudo apt-get install -qq -y swig
	#
	# we thus install manually swig 4.2.1
	sudo apt-get purge -y swig
	wget -nv https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
	unzip -q swig_4_2_1_ubuntu_24_04.zip
	sudo mv swig_4_2_1_ubuntu_24_04_install/bin/* /usr/bin
	sudo mv swig_4_2_1_ubuntu_24_04_install/share/swig /usr/share

	# Other tools useful in github actions
	sudo apt-get install -qq -y jq \
	wget \
	curl \
	lcov \
	gcovr \
	xsltproc \
	libxml2-utils \
	source-highlight

	# Remove old packages from apt cache
	sudo apt-get autoclean -qq

	- name: Build
	run: \|
	export CLICOLOR_FORCE=1
	export YARP_COLORED_OUTPUT=1

	/usr/bin/cmake -S. -Bbuild \
	-C .ci/initial-cache.gh.linux.cmake \
	-DCMAKE_C_FLAGS=-fdiagnostics-color=always \
	-DCMAKE_CXX_FLAGS=-fdiagnostics-color=always \
	-DCMAKE_BUILD_TYPE=Profile \
	"-DCMAKE_C_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
	"-DCMAKE_CXX_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
	-DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \
	-DYARP_NO_DEPRECATED:BOOL=ON

	(cd build && lcov --directory . --zerocounters)

	(cd build && make && make CTEST_OUTPUT_ON_FAILURE=1 test)

	# Capture coverage info for Profile builds
	(cd build; lcov --directory . --capture --rc lcov_branch_coverage=1 --output-file coverage.info)

	# Filter out system and test code
	(cd build; lcov --remove coverage.info '/usr/' 'tests/' 'example/' 'extern/' 'build/*'--rc lcov_branch_coverage=1 --output-file coverage.info)

	# Debug before upload
	(cd build; lcov --list coverage.info)

	- name: Run codacy-coverage-reporter
	uses: codacy/codacy-coverage-reporter-action@master
	with:
	project-token: ${{ secrets.CODACY_TOKEN }}
	coverage-reports: build/coverage.info


	sonarcloud:
	environment: code-analysis
	name: 'SonarCloud'
	needs: [select_environment, run-cmake]
	runs-on: ubuntu-22.04
	steps:
	- name: Clone repository
	uses: actions/checkout@v3
	with:
	repository: ${{ needs.select_environment.outputs.repository }}
	ref: ${{ needs.select_environment.outputs.ref }}
	fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis

	- name: Get Sonar and Prepare Environment
	id: get_sonar
	env:
	SONAR_ORGANIZATION: ${{ needs.select_environment.outputs.repository_owner }}
	SONAR_PROJECT_KEY: ${{ needs.select_environment.outputs.repository_owner }}_${{ needs.select_environment.outputs.repository_name }}
	SONAR_PROJECT_NAME: ${{ needs.select_environment.outputs.repository_name }}
	SONAR_PROJECT_DESCRIPTION: 'Yet Another Robot Platform'
	SONAR_PROJECT_VERSION: ${{ needs.select_environment.outputs.yarp_version }}
	SONAR_LINKS_HOMEPAGE: 'https://www.yarp.it/'
	SONAR_SOURCES: 'src'
	SONAR_TESTS: 'tests'
	SONAR_CFAMILY_GCOV_REPORTSPATH: 'build/coverage.info'
	SONAR_CFAMILY_CACHE_ENABLED: true
	SONAR_SCANNER_VERSION: '5.0.1.3006'
	SONAR_THREADS: 2
	run: \|
	# Internal variables
	SONAR_HOME_PATH=.sonar
	SONAR_CACHE_PATH=${SONAR_HOME_PATH}/cache
	SONAR_HOME=${HOME}/${SONAR_HOME_PATH}

	# project name from SonarCloud projet creation page -Dsonar.projectKey=XXXX
	echo "SONAR_PROJECT_KEY=${SONAR_PROJECT_KEY}" >> $GITHUB_ENV

	# project name from SonarCloud projet creation page -Dsonar.projectKey=XXXX
	echo "SONAR_PROJECT_NAME=${SONAR_PROJECT_NAME}" >> $GITHUB_ENV

	# project name from SonarCloud projet creation page -Dsonar.projectName=XXXX
	echo "SONAR_ORGANIZATION=${SONAR_ORGANIZATION}" >> $GITHUB_ENV

	# project version
	[[ ! -z "${SONAR_PROJECT_VERSION}" ]] && echo "SONAR_PROJECT_VERSION=${SONAR_PROJECT_VERSION}" >> $GITHUB_ENV

	# Links
	echo "SONAR_LINKS_HOMEPAGE=${SONAR_LINKS_HOMEPAGE:-https://github.com/${GITHUB_REPOSITORY}/}" >> $GITHUB_ENV
	echo "SONAR_LINKS_CI=${SONAR_LINKS_CI:-https://github.com/${GITHUB_REPOSITORY}/actions/}" >> $GITHUB_ENV
	echo "SONAR_LINKS_ISSUE=${SONAR_LINKS_ISSUE:-https://github.com/${GITHUB_REPOSITORY}/issues/}" >> $GITHUB_ENV
	echo "SONAR_LINKS_SCM=${SONAR_LINKS_SCM:-https://github.com/${GITHUB_REPOSITORY}/}" >> $GITHUB_ENV

	# Set default to SONAR_HOST_URL in not provided
	echo "SONAR_HOST_URL=${SONAR_HOST_URL:-https://sonarcloud.io}" >> $GITHUB_ENV

	echo "SONAR_SCANNER_VERSION=${SONAR_SCANNER_VERSION}" >> $GITHUB_ENV

	SONAR_SCANNER_HOME=${SONAR_HOME}/sonar-scanner-${SONAR_SCANNER_VERSION}-linux
	echo "SONAR_SCANNER_HOME=${SONAR_SCANNER_HOME}" >> $GITHUB_ENV

	echo "SONAR_SCANNER_OPTS=${SONAR_SCANNER_OPTS:--server}" >> $GITHUB_ENV
	echo "SONAR_SOURCES=${SONAR_SOURCES:-src}" >> $GITHUB_ENV
	[[ -v SONAR_TESTS ]] && echo "SONAR_TESTS=${SONAR_TESTS}" >> $GITHUB_ENV

	echo "SONAR_SOURCEENCODING=${SONAR_SOURCEENCODING:-UTF-8}" >> $GITHUB_ENV
	echo "SONAR_THREADS=${SONAR_THREADS:-1}" >> $GITHUB_ENV

	echo "SONAR_CFAMILY_CACHE_ENABLED=$([[ $SONAR_CFAMILY_CACHE_ENABLED = true ]] && echo true \|\| echo false)" >> $GITHUB_ENV
	[[ $SONAR_CFAMILY_CACHE_ENABLED = true ]] && echo "SONAR_CFAMILY_CACHE_PATH=${SONAR_CACHE_PATH}" >> $GITHUB_ENV

	echo "PATH=${SONAR_HOME}/build-wrapper-linux-x86:${SONAR_SCANNER_HOME}/bin:${PATH}" >> $GITHUB_ENV

	mkdir -p ${SONAR_HOME}
	mkdir -p ${SONAR_CACHE_PATH}

	cat $GITHUB_ENV

	# Download sonar-scanner
	curl -sSLo ${SONAR_HOME}/sonar-scanner.zip https://binaries${SONAR_HOME_PATH}source.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$SONAR_SCANNER_VERSION-linux.zip
	unzip -o ${SONAR_HOME}/sonar-scanner.zip -d ${SONAR_HOME}/

	# Download build-wrapper
	curl -sSLo ${SONAR_HOME}/build-wrapper-linux-x86.zip https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
	unzip -o ${SONAR_HOME}/build-wrapper-linux-x86.zip -d ${SONAR_HOME}/

	echo "sonar_path=${SONAR_HOME_PATH}" >> $GITHUB_OUTPUT
	echo "sonar_cache_path=${SONAR_CACHE_PATH}" >> $GITHUB_OUTPUT

	# This step is copied from the build step, please keep them in sync until we
	# find a better way to do it automatically
	- name: Dependencies [Linux]
	if: runner.os == 'Linux'
	shell: bash
	run: \|
	# Install dep for gstreamer. It must be the first one.
	sudo apt-get update
	sudo apt-get install -y libunwind-dev

	# Install Robotology dependencies from robotology ppa
	sudo apt-add-repository -y ppa:robotology/ppa
	sudo apt-get install -qq -y librobottestingframework-dev

	# Install cmake
	sudo apt-get install -qq -y cmake
	which cmake
	cmake --version
	/usr/bin/cmake --version

	# Install ycm
	wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
	sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

	# Install build tools
	sudo apt-get install -qq -y ccache \
	ninja-build \
	valgrind \
	openjdk-17-jdk \
	openjdk-17-jre

	sudo apt-get install -qq -y libace-dev \
	libsqlite3-dev \
	libtinyxml-dev \
	libedit-dev \
	qtbase5-dev \
	qtdeclarative5-dev \
	qtmultimedia5-dev \
	libqt5opengl5-dev \
	libqcustomplot-dev \
	libopencv-dev \
	libeigen3-dev \
	libgraphviz-dev \
	libgstreamer1.0-dev \
	libgstreamer-plugins-base1.0-dev \
	libpng-dev \
	libv4l-dev \
	libavcodec-dev \
	libavdevice-dev \
	libavformat-dev \
	libavutil-dev \
	portaudio19-dev \
	libsdl1.2-dev \
	libopenni2-dev \
	libftdi-dev \
	libi2c-dev \
	libjpeg-dev \
	libpcl-dev

	# Install bindings dependencies
	sudo apt-get install -qq -y mono-mcs \
	liblua5.3-dev \
	lua5.3 \
	tcl-dev \
	tk-dev \
	python3-dev \
	liboctave-dev \
	ruby-dev \
	ruby \
	perl

	# Install SWIG
	# On Ubuntu 24.04 this corresponds to swig 4.2.0 which is affected by a bug: https://github.com/robotology/yarp/issues/3083
	# sudo apt-get install -qq -y swig
	#
	# we thus install manually swig 4.2.1
	sudo apt-get purge -y swig
	wget -nv https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
	unzip -q swig_4_2_1_ubuntu_24_04.zip
	sudo mv swig_4_2_1_ubuntu_24_04_install/bin/* /usr/bin
	sudo mv swig_4_2_1_ubuntu_24_04_install/share/swig /usr/share

	# Other tools useful in github actions
	sudo apt-get install -qq -y jq \
	wget \
	curl \
	lcov \
	gcovr \
	wget \
	curl \
	xsltproc \
	libxml2-utils \
	source-highlight

	# Remove old packages from apt cache
	sudo apt-get autoclean -qq

	- name: Prepare ccache environment variables
	id: init_ccache
	run: \|
	CCACHE_HOME_PATH=.ccache
	CCACHE_BASEDIR=$GITHUB_WORKSPACE

	echo "CCACHE_BASEDIR=${CCACHE_BASEDIR}" >> $GITHUB_ENV
	echo "CCACHE_HOME_PATH=.ccache" >> $GITHUB_ENV
	echo "CCACHE_DIR=${CCACHE_BASEDIR}/${CCACHE_HOME_PATH}" >> $GITHUB_ENV
	echo "CCACHE_COMPRESS=true" >> $GITHUB_ENV
	echo "CCACHE_COMPRESSLEVEL=6" >> $GITHUB_ENV
	echo "CCACHE_MAXSIZE=400M" >> $GITHUB_ENV
	echo "CCACHE_CPP2=yes" >> $GITHUB_ENV
	echo "PATH=/usr/lib/ccache::${PATH}" >> $GITHUB_ENV

	cat $GITHUB_ENV

	echo "ccache_path=${CCACHE_HOME_PATH}" >> $GITHUB_OUTPUT

	- name: Print info and reset stats before build
	run: \|
	set -x

	which ccache
	ccache --version
	ccache -p


	ls -la --color=always /usr/lib/ccache

	# Reset ccache stats before starting
	ccache -z

	gcov --version
	gcovr --version

	- name: Handle cache
	uses: actions/cache@v3
	with:
	path: \|
	${{ steps.init_ccache.outputs.ccache_path }}
	${{ steps.get_sonar.outputs.sonar_cache_path }}
	key: sonar-cache-${{ needs.select_environment.outputs.timestamp }}
	restore-keys: \|
	sonar-cache-

	- name: Run CMake
	run: \|
	export CLICOLOR_FORCE=1
	export YARP_COLORED_OUTPUT=1

	/usr/bin/cmake -S. -Bbuild \
	-C .ci/initial-cache.gh.linux.cmake \
	-DCMAKE_C_FLAGS=-fdiagnostics-color=always \
	-DCMAKE_CXX_FLAGS=-fdiagnostics-color=always \
	-DCMAKE_BUILD_TYPE=Profile \
	"-DCMAKE_C_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
	"-DCMAKE_CXX_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
	-DCMAKE_EXE_LINKER_FLAGS_PROFILE=-lgcov \
	-DCMAKE_MODULE_LINKER_FLAGS_PROFILE=-lgcov \
	-DCMAKE_SHARED_LINKER_FLAGS_PROFILE=-lgcov \
	-DCMAKE_STATIC_LINKER_FLAGS_PROFILE= \
	-DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \
	-DYARP_NO_DEPRECATED:BOOL=ON \
	-DYARP_COMPILE_BINDINGS:BOOL=OFF

	- name: Link compile_commands.json in the source directory
	run: \|
	ln -s build/compile_commands.json .

	- name: Build inside the build-wrapper
	run: \|
	build-wrapper-linux-x86-64 --out-dir build_wrapper_output_directory cmake --build build --config Profile

	- name: Run tests
	run: \|
	# Download CTest2JUnit.xsl
	wget https://raw.githubusercontent.com/zanata/zanata-tests/master/scripts/CTest2JUnit.xsl -O CTest2JUnit.xsl

	# -T Test produces the xml output with the results
	(cd build && ctest -T test --rerun-failed --output-on-failure --verbose)
	xsltproc CTest2JUnit.xsl build/Testing/$(head -n 1 < build/Testing/TAG)/Test.xml > build/JUnitTestResults.xml

	- name: Print tests results file
	run: \|
	xmllint --format build/JUnitTestResults.xml \| source-highlight -s xml --out-format=esc -o STDOUT

	- name: Print ccache stats after build
	run: \|
	set -x

	# Print ccache stats
	ccache -s

	- name: Capture coverage info
	run: \|
	(cd build && \
	gcovr --exclude="../extern/*" --sonarqube --branches --output coverage.xml --root .. .)

	- name: Print coverage info file
	run: \|
	xmllint --format build/coverage.xml \| source-highlight -s xml --out-format=esc -o STDOUT

	- name: Run sonar scanner
	env:
	GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
	SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
	run: \|

	# Run sonar scanner (here, arguments are passed through the command line but most of them can be written in the sonar-project.properties file)
	[[ -v SONAR_TOKEN ]] && SONAR_TOKEN_CMD_ARG="-Dsonar.login=${SONAR_TOKEN}"
	[[ -v SONAR_ORGANIZATION ]] && SONAR_ORGANIZATION_CMD_ARG="-Dsonar.organization=${SONAR_ORGANIZATION}"
	[[ -v SONAR_PROJECT_NAME ]] && SONAR_PROJECT_NAME_CMD_ARG="-Dsonar.projectName=${SONAR_PROJECT_NAME}"
	[[ -v SONAR_PROJECT_DESCRIPTION ]] && SONAR_PROJECT_DESCRIPTION_CMD_ARG="-Dsonar.projectDescription=${SONAR_PROJECT_DESCRIPTION}"
	[[ -v SONAR_PROJECT_VERSION ]] && SONAR_PROJECT_VERSION_CMD_ARG="-Dsonar.projectVersion=${SONAR_PROJECT_VERSION}"

	if [[ "$GITHUB_EVENT_NAME" = "pull_request" \|\| "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
	SONAR_PR_CMD_ARGS="\
	-Dsonar.pullrequest.provider=github \
	-Dsonar.pullrequest.github.repository=${SONAR_ORGANIZATION}/${SONAR_PROJECT_NAME} \
	-Dsonar.pullrequest.branch=${{ needs.select_environment.outputs.head_ref }} \
	-Dsonar.pullrequest.key=${{ needs.select_environment.outputs.pr_number }} \
	-Dsonar.pullrequest.base=${{ needs.select_environment.outputs.base_ref }} \
	-Dsonar.pullrequest.github.endpoint=https://api.github.com"
	fi

	# Paths to test files
	[[ -v SONAR_TESTS ]] && SONAR_TESTS_CMD_ARG="-Dsonar.tests=${SONAR_TESTS}"

	# Path to cache
	[[ -v SONAR_CFAMILY_CACHE_PATH ]] && SONAR_CFAMILY_CACHE_PATH_CMD_ARG="-Dsonar.cfamily.cache.path=${SONAR_CFAMILY_CACHE_PATH}"

	set -x

	sonar-scanner \
	-Dsonar.host.url="${SONAR_HOST_URL}" \
	-Dsonar.projectKey=${SONAR_PROJECT_KEY} \
	-Dsonar.language=c++ \
	-Dsonar.sources=${SONAR_SOURCES} \
	-Dsonar.links.homepage=${SONAR_LINKS_HOMEPAGE} \
	-Dsonar.links.ci=${SONAR_LINKS_CI} \
	-Dsonar.links.issue=${SONAR_LINKS_ISSUE} \
	-Dsonar.links.scm=${SONAR_LINKS_SCM} \
	-Dsonar.cfamily.build-wrapper-output=build_wrapper_output_directory \
	-Dsonar.sourceEncoding=${SONAR_SOURCEENCODING} \
	-Dsonar.cfamily.threads=${SONAR_THREADS} \
	-Dsonar.cfamily.cache.enabled=${SONAR_CFAMILY_CACHE_ENABLED} \
	-Dsonar.coverageReportPaths=build/coverage.xml \
	-Dsonar.junit.reportPaths=build/JUnitTestResults.xml \
	-Dsonar.exclusions="src/yarp// src/carriers/*/ src/devices/*/ src/idls/*/ src/libyarp// src/robottestingframework-plugins/*/ tests/*/" \
	-Dsonar.coverage.exclusions="\
	src/libYARP_dev/src/yarp/dev/tests/*,\
	src/devices//tests/,\
	src/carriers//tests/,\
	src/portmonitors//tests/,\
	tests/*/,\
	src/yarp//,\
	robottestingframework-plugins/*/\
	" \
	-Dsonar.branch.longLivedBranches.regex="^(master\|yarp-.+)$" \
	${SONAR_TESTS_CMD_ARG} \
	${SONAR_PROJECT_NAME_CMD_ARG} \
	${SONAR_PROJECT_DESCRIPTION_CMD_ARG} \
	${SONAR_PROJECT_VERSION_CMD_ARG} \
	${SONAR_PR_CMD_ARGS} \
	${SONAR_TOKEN_CMD_ARG} \
	${SONAR_ORGANIZATION_CMD_ARG} \
	${SONAR_CFAMILY_CACHE_PATH_CMD_ARG}

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Added CI for Ubuntu24.04 #3485

Workflow file

Added CI for Ubuntu24.04 #3485

Jobs

Run details

Workflow file for this run