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costashatzcostashatz
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Merge pull request #141 from resibots/new_ci
CI via GitHub Actions
2 parents b078fe5 + d3d63c2 commit c5aa3e8

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‎.github/workflows/ci_linux.yml

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# https://help.github.com/en/articles/workflow-syntax-for-github-actions
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name: CI Ubuntu
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on:
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push:
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branches:
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- "**"
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pull_request:
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branches:
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- "**"
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jobs:
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build:
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if: github.event_name != 'workflow_dispatch'
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name: OS:${{ matrix.os }}-Magnum:${{ matrix.magnum_gui }}-Build:${{ matrix.build_type }}-Python:${{ matrix.build_python }}-Compiler:${{ matrix.compiler }}-DART:${{ matrix.dart_tag }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-20.04]
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build_type: [Release]
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build_python: [ON]
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compiler: [gcc, clang]
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magnum_gui: [ON, OFF]
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dart_tag: ["v6.11.1"]
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env:
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COMPILER: ${{ matrix.compiler }}
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BUILD_TYPE: ${{ matrix.build_type }}
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BUILD_PYTHON: ${{ matrix.build_python }}
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MAGNUM_GUI: ${{ matrix.magnum_gui }}
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DART_TAG: ${{ matrix.dart_tag }}
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LD_LIBRARY_PATH: "/home/runner/.dart_install/lib"
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CI_HOME: ${{github.workspace}}
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DART_DIR: "/home/runner/.dart_install/share/dart/cmake"
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steps:
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- uses: actions/checkout@v2
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- name: Install Ubuntu packages
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run: ${{github.workspace}}/ci/install_packages.sh
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- name: Cache DART
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id: cache-dart
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uses: actions/cache@v2
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with:
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path: ~/.dart_install
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key: dart-${{ matrix.dart_tag }}-${{ matrix.compiler }}-py3_${{ matrix.build_python }}-${{ matrix.os }}
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- name: Build DART
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if: steps.cache-dart.outputs.cache-hit != 'true'
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run: ${{github.workspace}}/ci/install_dart_latest.sh
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- name: Build Magnum
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run: if [ "$MAGNUM_GUI" = "ON" ]; then ${{github.workspace}}/ci/install_magnum.sh ; fi
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- name: Build robot_dart
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run: |
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python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
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export PYTHONPATH=/home/runner/.dart_install/$python_dist_dir
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if [ "$COMPILER" = "gcc" ]; then
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export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
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fi
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if [ "$COMPILER" = "clang" ]; then
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export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
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fi
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cd ${{github.workspace}}
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if [ "$BUILD_PYTHON" = "ON" ]; then
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./waf configure --python --prefix=/usr --dart=~/.dart_install ;
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else
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./waf configure --prefix=/usr --dart=~/.dart_install ;
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fi
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./waf
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- name: Run tests
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run: ./waf --tests
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- name: Build examples
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run: ./waf examples
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- name: Install
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run: sudo ./waf install
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- name: Run CMake
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run: |
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if [ "$COMPILER" = "gcc" ]; then
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export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
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fi
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if [ "$COMPILER" = "clang" ]; then
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export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
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fi
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cd ${{github.workspace}}/cmake/example && mkdir -p build && cd build && cmake -DDART_DIR=$DART_DIR .. && make -j4
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- name: Run Python
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run: |
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if [ "$BUILD_PYTHON" = "ON" ]; then
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python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
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export PYTHONPATH=/home/runner/.dart_install/$python_dist_dir
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python ${{github.workspace}}/src/python/ci.py
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fi
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‎.github/workflows/ci_linux_dart.yml

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# https://help.github.com/en/articles/workflow-syntax-for-github-actions
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name: CI Ubuntu (DART Building)
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on:
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schedule:
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- cron: 22 6 * * 1
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jobs:
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build:
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if: github.event_name != 'workflow_dispatch'
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name: OS:${{ matrix.os }}-Build:${{ matrix.build_type }}-Python:${{ matrix.build_python }}-Compiler:${{ matrix.compiler }}-DART:${{ matrix.dart_tag }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-20.04]
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build_type: [Release]
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build_python: [ON]
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compiler: [gcc, clang]
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dart_tag: ["v6.11.1"]
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env:
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COMPILER: ${{ matrix.compiler }}
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BUILD_TYPE: ${{ matrix.build_type }}
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BUILD_PYTHON: ${{ matrix.build_python }}
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DART_TAG: ${{ matrix.dart_tag }}
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LD_LIBRARY_PATH: "/home/runner/.dart_install/lib"
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CI_HOME: ${{github.workspace}}
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DART_DIR: "/home/runner/.dart_install/share/dart/cmake"
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steps:
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- uses: actions/checkout@v2
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- name: Install Ubuntu packages
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run: ${{github.workspace}}/ci/install_packages.sh
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- name: Cache DART
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id: cache-dart
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uses: actions/cache@v2
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with:
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path: ~/.dart_install
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key: dart-${{ matrix.dart_tag }}-${{ matrix.compiler }}-py3_${{ matrix.build_python }}-${{ matrix.os }}
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- name: Build DART
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run: ${{github.workspace}}/ci/install_dart_latest.sh

‎.travis.yml

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‎README.md

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robot_dart [![Build Status](https://travis-ci.org/resibots/robot_dart.svg?branch=master)](https://travis-ci.org/resibots/robot_dart)
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=====================================================================================================================================
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robot_dart [![Build Status](https://github.com/resibots/robot_dart/actions/workflows/ci_linux.yml/badge.svg?branch=master)](https://github.com/resibots/robot_dart/actions/workflows/ci_linux.yml)
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=====================================================================================================================================================================================================
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### CAUTION: The library is under-going a serious re-structure and development. Expect breaking of API/ABI, and out-of-date guides. We will soon provide a new release with many new features and a proper documentation.
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‎ci/install_dart_extra_deps.sh

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‎ci/install_dart_latest.sh

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if [ "$TRAVIS_OS_NAME" == "linux" ]; then
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sudo apt-get -qq update
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sudo apt-get -y install software-properties-common
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sudo apt-add-repository -y ppa:dartsim/ppa
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sudo apt-get -qq update
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mkdir -p ~/.deps
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cd ~/.deps
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sudo apt-get install -y --no-install-recommends libassimp-dev libccd-dev libfcl-dev
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else
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HOMEBREW_NO_AUTO_UPDATE=1 brew install dartsim --only-dependencies
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fi
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python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
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mkdir -p ~/.dart_install/$python_dist_dir
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git clone git://github.com/dartsim/dart.git
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cd dart
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git checkout v6.10.1
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git checkout $DART_TAG
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mkdir build
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cd build
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if [ "$PYTHON_TESTS" = "ON" ]; then
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cmake -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ..
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# Select Compiler
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if [ "$COMPILER" = "gcc" ]; then
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export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
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fi
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if [ "$COMPILER" = "clang" ]; then
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export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
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fi
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# Build DART
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if [ "$BUILD_PYTHON" = "ON" ]; then
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cmake -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=/home/runner/.dart_install ..
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else
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cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ..
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cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=/home/runner/.dart_install ..
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fi
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make -j4
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sudo make install
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if [ "$PYTHON_TESTS" = "ON" ]; then
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if [ "$BUILD_PYTHON" = "ON" ]; then
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sudo make install-dartpy
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fi
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sudo ldconfig
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cd $CI_HOME
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# Hack for dartpy installation
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python_file=/usr/lib/python3/dist-packages/dartpy.cpython-38-x86_64-linux-gnu.so
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if [ -f "$python_file" ]; then
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cp $python_file ~/.dart_install/$python_dist_dir
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fi

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