Fix PCH and ccache build

.github/workflows/linux.yml

@@ -43,6 +43,8 @@ jobs:
       CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
       CCACHE_COMPRESS: true
       CCACHE_COMPRESSLEVEL: 5
+      # 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
 
     steps:
       - name: Setup Container
@@ -127,6 +129,9 @@ jobs:
           export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
           export CMAKE_PREFIX_PATH=/opt/openrobots/lib
 
+          # Clear ccache statistics
+          ccache -z
+
           mkdir build
           cd build
           cmake .. \
@@ -204,6 +209,11 @@ jobs:
           cd build
           make uninstall
 
+      - name: Display ccache statistics
+        run: |
+          # TODO: Add -v option when we drop ubuntu-20.04
+          ccache -s
+
   check:
     if: always()
     name: check-linux-apt

.github/workflows/macos-linux-windows-pixi.yml

@@ -40,6 +40,9 @@ jobs:
       CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
       CCACHE_COMPRESS: true
       CCACHE_COMPRESSLEVEL: 5
+      # Since pixi 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
       BUILD_ADVANCED_TESTING: ${{ matrix.BUILD_ADVANCED_TESTING }}
 
     strategy:
@@ -87,8 +90,8 @@ jobs:
       - uses: actions/cache@v4
         with:
           path: .ccache
-          key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }}
-          restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-
+          key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}_${{ github.sha }}
+          restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}_
 
       - uses: prefix-dev/[email protected]
         with:
@@ -118,6 +121,9 @@ jobs:
           CMAKE_BUILD_PARALLEL_LEVEL: 2
           PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
         run: |
+          # Clear ccache statistics
+          pixi run -e ${{ matrix.environment }} ccache -z
+
           # Launch configure but overwrite default options
           pixi run -e ${{ matrix.environment }} configure \
             -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
@@ -129,7 +135,12 @@ jobs:
       - name: Uninstall Pinocchio
         shell: bash -el {0}
         run: |
-          cmake --build build --target uninstall
+          pixi run -e ${{ matrix.environment }} cmake --build build --target uninstall
+
+      - name: Display ccache statistics
+        shell: bash -el {0}
+        run: |
+          pixi run -e ${{ matrix.environment }} ccache -sv
 
   check:
     if: always()

.github/workflows/ros_ci.yml

@@ -62,8 +62,8 @@ jobs:
       - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
-          restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ github.sha }}
+          restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-
       # Run industrial_ci
       - uses: 'ros-industrial/industrial_ci@3e67ec54d63496e076267392148a26229740befc'
         env: ${{ matrix.env }}

bindings/python/CMakeLists.txt

@@ -61,8 +61,11 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
   # * -Wconversion as the BOOST_PYTHON_FUNCTION_OVERLOADS implicitly converts.
   # * -Wcomment as latex equations have multi-line comments.
   # * -Wself-assign-overloaded as bp::self operations trigger this (Clang only).
+  # * -Xclang=-fno-pch-timestamp to allow ccache to use pch
+  #   (https://ccache.dev/manual/latest.html#_precompiled_headers).
   cxx_flags_by_compiler_frontend(
-    GNU -Wno-conversion -Wno-comment -Wno-self-assign-overloaded
+    GNU -Wno-conversion -Wno-comment -Wno-self-assign-overloaded -Xclang=-fno-pch-timestamp
+    MSVC -Xclang=-fno-pch-timestamp
     OUTPUT PRIVATE_OPTIONS
     FILTER)
   target_compile_options(${PYTHON_LIB_NAME} PRIVATE ${PRIVATE_OPTIONS})

development/scripts/pixi/activation.bat

@@ -7,6 +7,9 @@ set CMAKE_EXPORT_COMPILE_COMMANDS=1
 :: Activate color output with Ninja
 set CMAKE_COLOR_DIAGNOSTICS=1
 
+:: Help ccache manage generated files and PCH (https://ccache.dev/manual/latest.html#_precompiled_headers)
+set CCACHE_SLOPPINESS=include_file_ctime,include_file_mtime,pch_defines,time_macros
+
 # Set default build value only if not previously set
 if not defined PINOCCHIO_BUILD_TYPE (set PINOCCHIO_BUILD_TYPE=Release)
 if not defined PINOCCHIO_PYTHON_STUBS (set PINOCCHIO_PYTHON_STUBS=ON)

development/scripts/pixi/activation.sh

@@ -20,6 +20,10 @@ then
   # On GNU/Linux, I don't know if these flags are mandatory with g++ but
   # it allow to use clang++ as compiler
   export LDFLAGS="-Wl,-rpath,$CONDA_PREFIX/lib -Wl,-rpath-link,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib"
+
+  # Conda compiler is named x86_64-conda-linux-gnu-c++, ccache can't resolve it
+  # (https://ccache.dev/manual/latest.html#config_compiler_type)
+  export CCACHE_COMPILERTYPE=gcc
 fi
 
 # Setup ccache
@@ -31,6 +35,9 @@ export CMAKE_EXPORT_COMPILE_COMMANDS=1
 # Activate color output with Ninja
 export CMAKE_COLOR_DIAGNOSTICS=1
 
+# Help ccache manage generated files and PCH (https://ccache.dev/manual/latest.html#_precompiled_headers)
+export CCACHE_SLOPPINESS=include_file_ctime,include_file_mtime,pch_defines,time_macros
+
 # Set default build value only if not previously set
 export PINOCCHIO_BUILD_TYPE=${PINOCCHIO_BUILD_TYPE:=Release}
 export PINOCCHIO_PYTHON_STUBS=${PINOCCHIO_PYTHON_STUBS:=ON}

development/scripts/pixi/activation_clang.sh

@@ -3,3 +3,6 @@
 
 export CC=clang
 export CXX=clang++
+
+# activation.sh set this variable to gcc, we must override it here
+export CCACHE_COMPILERTYPE=clang