vcpkg.yml

name: vcpkg
on:
  pull_request:
  push:
    # Runs on pushes targeting the develop branch 
    branches: [develop]

# Cancels any in-progress workflow runs for the same PR when a new push is made,
# allowing the runner to become available more quickly for the latest changes.
concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  build:
    name: ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        include:      
          - os: windows-latest
            triplet: x64-windows-release
            build_type: Release
            test_target: RUN_TESTS
            binary_cache: C:\Users\runneradmin\AppData\Local\vcpkg\archives
            python: python
            # Exclude test_sumProduct and test_sumProduct_chain from pytest on windows.
            # These tests should be fixed for windows.
            pytest_extra_flags: -k "not test_sumProduct"
          - os: ubuntu-latest
            triplet: x64-linux-release
            build_type: Release
            test_target: test
            binary_cache: /home/runner/.cache/vcpkg/archives
            python: python3
          - os: macos-latest
            triplet: arm64-osx-release
            build_type: Release
            test_target: test
            binary_cache: /Users/runner/.cache/vcpkg/archives
            python: python3
    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Restore cache dependencies
        id: cache-restore
        uses: actions/cache/restore@v3
        with:
          path: ${{ matrix.binary_cache }}
          key: ${{ matrix.os }}
          restore-keys: ${{ matrix.os }}

      - name: Setup msbuild
        if: runner.os == 'Windows'
        uses: ilammy/msvc-dev-cmd@v1
        with:
          arch: x64
          toolset: 14.40

      - name: Install sccache
        if: runner.os == 'Windows'
        uses: mozilla-actions/sccache-action@v0.0.9

      - name: Use sccache
        if: runner.os == 'Windows'
        shell: bash
        run: |
          echo "SCCACHE_GHA_ENABLED=ON" >> "$GITHUB_ENV"
          echo "CMAKE_C_COMPILER_LAUNCHER=sccache" >> "$GITHUB_ENV"
          echo "CMAKE_CXX_COMPILER_LAUNCHER=sccache" >> "$GITHUB_ENV"

      - name: cl version
        if: runner.os == 'Windows'
        shell: cmd
        run: cl

      - name: Install vcpkg python dependencies
        if: runner.os == 'Linux'
        shell: bash
        run: |
          sudo apt-get install autoconf automake autoconf-archive

      - name: Install vcpkg python dependencies
        if: runner.os == 'macOS'
        shell: bash
        run: |
          brew install autoconf autoconf-archive automake libtool

      - name: Set vcpkg installtion root env
        shell: bash
        run: |
          VCPKG_BASH_PATH=${VCPKG_INSTALLATION_ROOT//\\//}
          echo "VCPKG_INSTALLATION_ROOT=$VCPKG_BASH_PATH" >> "$GITHUB_ENV"

      - name: "Install dependencies"
        run: >
          vcpkg x-set-installed --triplet ${{ matrix.triplet }} --host-triplet ${{ matrix.triplet }}
          boost-assign
          boost-bimap
          boost-chrono
          boost-date-time
          boost-filesystem
          boost-format
          boost-graph
          boost-math
          boost-program-options
          boost-regex
          boost-serialization
          boost-system
          boost-thread
          boost-timer
          tbb
          pybind11

      - name: On Failure, upload vcpkg logs
        if: failure()
        uses: actions/upload-artifact@v4
        with:
          name: logs_${{ matrix.os }}_${{ github.event.pull_request.head.sha }}
          path: |
            ${{ env.VCPKG_INSTALLATION_ROOT }}/buildtrees/**/*.log

      - name: copy files for hash
        shell: bash
        run: |
          echo $VCPKG_INSTALLATION_ROOT
          mkdir -p vcpkg-info
          find $VCPKG_INSTALLATION_ROOT/installed/ -type f -name 'vcpkg_abi_info.txt' | \
          while read filepath; do
            triplet=$(echo "$filepath" | awk -F/ '{print $(NF-3)}')
            port=$(echo "$filepath" | awk -F/ '{print $(NF-1)}')
            cp "$filepath" "vcpkg-info/${triplet}_${port}.txt"
          done

      - name: Save cache dependencies
        # Don't save if it's the exact same
        if: steps.cache-restore.outputs.cache-matched-key != format('{0}-{1}', matrix.os, hashFiles('vcpkg-info/*'))
        uses: actions/cache/save@v4
        with:
          path: ${{ matrix.binary_cache }}
          key: ${{ matrix.os }}-${{ hashFiles('vcpkg-info/*') }}

      - name: Install python packages
        shell: bash
        run: |
          $VCPKG_INSTALLATION_ROOT/installed/${{ matrix.triplet }}/tools/python3/${{ matrix.python }} -m ensurepip --upgrade
          $VCPKG_INSTALLATION_ROOT/installed/${{ matrix.triplet }}/tools/python3/${{ matrix.python }} -m pip install -r python/dev_requirements.txt

      - name: cmake config
        if: success()
        shell: bash
        run: |
          export CL=-openmp

          cmake . -B build -G Ninja \
              -DCMAKE_TOOLCHAIN_FILE=$VCPKG_INSTALLATION_ROOT/scripts/buildsystems/vcpkg.cmake \
              -DVCPKG_INSTALLED_DIR=$VCPKG_INSTALLATION_ROOT/installed \
              -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }} \
              -DVCPKG_HOST_TRIPLET=${{ matrix.triplet }} \
              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
              -DGTSAM_BUILD_WITH_PRECOMPILED_HEADERS=OFF \
              -DGTSAM_ROT3_EXPMAP=ON \
              -DGTSAM_POSE3_EXPMAP=ON \
              -DGTSAM_BUILD_PYTHON=ON \
              -DGTSAM_BUILD_TESTS=ON \
              -DGTSAM_BUILD_UNSTABLE=ON \
              -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
              -DGTSAM_USE_SYSTEM_EIGEN=OFF \
              -DGTSAM_USE_SYSTEM_METIS=OFF \
              -DGTSAM_USE_SYSTEM_PYBIND=ON \
              -DGTSAM_SUPPORT_NESTED_DISSECTION=ON \
              -DCTEST_EXTRA_ARGS='${{ matrix.ctest_extra_flags }}' \
              -DPYTEST_EXTRA_ARGS='${{ matrix.pytest_extra_flags }}'

      - name: cmake build
        shell: bash
        run: |
          cmake --build build --config ${{ matrix.build_type }}

      - name: Run Python tests
        shell: bash
        run: |
          export PATH="$PATH:$VCPKG_INSTALLATION_ROOT/installed/${{ matrix.triplet }}/bin"
          cmake --build build --target python-install
          cmake --build build --target python-test
          cmake --build build --target python-test-unstable

      - name: Run tests
        shell: bash
        run: |
          cmake --build build --config ${{ matrix.build_type }} --target check