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 }}
    env:
      SCCACHE_GHA_ENABLED: 1
      # Some files take so long to compile that the sccache daemon times out,
      # which is bad for stats tracking. Always keep sccache daemon alive.
      SCCACHE_IDLE_TIMEOUT: 0
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: windows-latest
            triplet: x64-windows-release
            build_type: Release
            test_target: RUN_TESTS
            python: python
          - os: ubuntu-latest
            triplet: x64-linux-release
            build_type: Release
            test_target: test
            python: python3
          - os: macos-latest
            triplet: arm64-osx-release
            build_type: Release
            test_target: test
            python: python3
    steps:
      - name: Checkout
        uses: actions/checkout@v4

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

      - name: Install sccache
        uses: mozilla-actions/sccache-action@v0.0.9

      - 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 up vcpkg
        uses: lukka/run-vcpkg@v11.5
        with:
          vcpkgDirectory: ${{ github.workspace }}/vcpkg
        env:
          VCPKG_BINARY_SOURCES: default,rw

      - name: Restore cache dependencies
        id: cache-restore
        uses: actions/cache/restore@v3
        with:
          path: ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
          key: ${{ matrix.os }}-${{ hashFiles('vcpkg.json') }}
          restore-keys: ${{ matrix.os }}-${{ hashFiles('vcpkg.json') }}

      - name: Set Swap Space (Linux)
        if: runner.os == 'Linux'
        uses: pierotofy/set-swap-space@master
        with:
          swap-size-gb: 7

      - name: cmake config
        shell: bash
        run: |
          cmake -B build -G Ninja \
              -DCMAKE_TOOLCHAIN_FILE=vcpkg/scripts/buildsystems/vcpkg.cmake \
              -DCMAKE_C_COMPILER_LAUNCHER=sccache \
              -DCMAKE_CXX_COMPILER_LAUNCHER=sccache \
              -DVCPKG_INSTALLED_DIR=$GITHUB_WORKSPACE/vcpkg_installed \
              -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }} \
              -DVCPKG_HOST_TRIPLET=${{ matrix.triplet }} \
              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF \
              -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=ON \
              -DGTSAM_USE_SYSTEM_METIS=OFF \
              -DGTSAM_USE_SYSTEM_PYBIND=ON \
              -DGTSAM_ENABLE_GEOGRAPHICLIB=ON \
              -DGTSAM_SUPPORT_NESTED_DISSECTION=ON \
              -DGTSAM_WITH_EIGEN_MKL=ON \
              -DGTSAM_WITH_EIGEN_MKL_OPENMP=ON \
              -DCTEST_EXTRA_ARGS='${{ matrix.ctest_extra_flags }}' \
              -DPYTEST_EXTRA_ARGS='${{ matrix.pytest_extra_flags }}'

      - 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: vcpkg/buildtrees/**/*.log

      - name: Cache dependencies
        # Don't save if it's the exact same
        if: steps.cache-restore.outputs.cache-matched-key != format('{0}-{1}-{2}', matrix.os, hashFiles('vcpkg.json'), hashFiles('vcpkg_installed/**/vcpkg_abi_info.txt'))
        uses: actions/cache/save@v4
        with:
          path: ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
          key: ${{ matrix.os }}-${{ hashFiles('vcpkg.json') }}-${{ hashFiles('vcpkg_installed/**/vcpkg_abi_info.txt') }}

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

      - name: cmake build
        shell: bash
        run: |
          cmake --build build

      - name: Run Python tests
        shell: bash
        run: |
          export PATH="$PATH:$GITHUB_WORKSPACE/vcpkg_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 --target check