Merge pull request #287 from stack-of-tasks/pre-commit-ci-update-config

[pre-commit.ci] pre-commit autoupdate

Author: nim65s

.github/workflows/ci-linux-osx-conda.yml

@@ -6,14 +6,21 @@ on:
       - devel
       - master
   pull_request:
-    branches:
-      - devel
-      - master
 
 jobs:
   build-with-conda:
     name: '[conda:${{ matrix.os }}:${{ matrix.build_type }}]'
     runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
+      CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 5
+      # Since conda will install a compiler, the compiler mtime will be changed.
+      # This can invalidate the cache (https://ccache.dev/manual/latest.html#config_compiler_check)
+      CCACHE_COMPILERCHECK: content
+      # Help ccache manage generated files and PCH (https://ccache.dev/manual/latest.html#_precompiled_headers)
+      CCACHE_SLOPPINESS: include_file_ctime,include_file_mtime,pch_defines,time_macros
 
     strategy:
       fail-fast: false
@@ -23,28 +30,30 @@ jobs:
 
     steps:
     - uses: actions/checkout@v5
+      with:
+        submodules: recursive
 
-    - uses: conda-incubator/setup-miniconda@v3
+    - uses: actions/cache@v4
       with:
-        channels: conda-forge
-        activate-environment: tsid
+        path: .ccache
+        key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}_${{ github.sha }}
+        restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}_
 
-    - name: Install dependencies [Conda]
-      shell: bash -l {0}
+    # Conda compiler is named x86_64-conda-linux-gnu-c++, ccache can't resolve it
+    # (https://ccache.dev/manual/latest.html#config_compiler_type)
+    - name: Configure ccache with conda GCC [Conda]
+      if: contains(matrix.os, 'ubuntu')
       run: |
-        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
-        conda config --remove channels defaults
-        # Compilation related dependencies
-        conda install cmake compilers make pkg-config doxygen ninja graphviz
-        # Main dependencies
-        conda install tsid --only-deps
-        conda install proxsuite osqp-eigen
-
-    - name: Activate ccache [Conda]
-      uses: hendrikmuhs/[email protected]
+        echo "CCACHE_COMPILERTYPE=gcc" >> "$GITHUB_ENV"
+
+    - uses: conda-incubator/setup-miniconda@v3
       with:
-        key: ${{ matrix.os }}-${{ matrix.type }}
-        max-size: 1G
+        miniforge-version: latest
+        activate-environment: tsid
+        environment-file: .github/workflows/conda/environment.yml
+        auto-activate-base: false
+        auto-update-conda: true
+        conda-remove-defaults: true
 
     - name: Print environment [Conda]
       shell: bash -l {0}
@@ -53,49 +62,60 @@ jobs:
         conda list
         env
 
+    - name: Clear ccache statistics [Conda]
+      shell: bash -l {0}
+      run: |
+        ccache -z
+
     - name: Configure [Conda]
       shell: bash -l {0}
       run: |
-        echo $(whereis ccache)
-        echo $(which ccache)
-        git submodule update --init
         mkdir build
         cd build
-        cmake .. -GNinja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_EXECUTABLE=$(which python3) -DINSTALL_DOCUMENTATION:BOOL=ON -DBUILD_WITH_PROXQP:BOOL=ON -DBUILD_WITH_OSQP:BOOL=ON
+        cmake .. -GNinja\
+          -DCMAKE_C_COMPILER_LAUNCHER=ccache\
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache\
+          -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}\
+          -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}\
+          -DBUILD_PYTHON_INTERFACE:BOOL=ON\
+          -DPYTHON_EXECUTABLE=$(which python3)\
+          -DINSTALL_DOCUMENTATION:BOOL=ON\
+          -DBUILD_WITH_PROXQP:BOOL=ON\
+          -DBUILD_WITH_OSQP:BOOL=ON
 
     - name: Build [Conda]
       shell: bash -l {0}
       run: |
         cd build
-        cmake --build . --config ${{ matrix.build_type }} -v
+        ninja
 
     - name: Build documentation [Conda]
       shell: bash -l {0}
       run: |
         cd build
-        cmake --build . --config ${{ matrix.build_type }} --target doc
+        ninja doc
 
     - name: Install [Conda]
       shell: bash -l {0}
       run: |
         cd build
-        cmake --install . --config ${{ matrix.build_type }}
+        ninja install
 
     - name: Test [Conda]
       shell: bash -l {0}
       run: |
         find $CONDA_PREFIX -name tsid*
         python -c "import tsid"
         cd build
-        ctest --output-on-failure -C ${{ matrix.build_type }}
+        ctest --output-on-failure
 
     - name: Uninstall [Conda]
       shell: bash -l {0}
       run: |
         cd build
-        cmake --build . --config ${{ matrix.build_type }} --target uninstall
+        ninja uninstall
 
-    - name: Display ccache statistics [Conda]
+    - name: Print ccache statistics [Conda]
       shell: bash -l {0}
       run: |
-        echo $(ccache -s)
+        ccache -sv

.github/workflows/conda/environment.yml

@@ -0,0 +1,21 @@
+name: tsid
+channels:
+  - conda-forge
+dependencies:
+  - cmake
+  - cxx-compiler
+  - pkg-config
+  - doxygen
+  - graphviz
+  - ccache
+  - ninja
+  - python
+  - eigenpy
+  - libboost-python-devel
+  - eigen
+  - pinocchio
+  - eiquadprog
+  - osqp-eigen
+  - proxsuite
+  - urdfdom
+  - numpy

.pre-commit-config.yaml

@@ -2,7 +2,7 @@ ci:
   autoupdate_branch: devel
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.13.1
+  rev: v0.14.0
   hooks:
   - id: ruff
     args:
@@ -19,7 +19,7 @@ repos:
   hooks:
   - id: toml-sort-fix
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v21.1.1
+  rev: v21.1.2
   hooks:
   - id: clang-format
     args: