macos-linux-windows-pixi.yml

name: CI - MacOS/Linux/Windows via Pixi

on:
  schedule:
    - cron: "0 0 * * 1"
  push:
    branches:
      - devel
    paths-ignore:
      - doc/**
      - .gitlab-ci.yml
      - .gitignore
      - "**.md"
      - CITATION.*
      - COPYING.LESSER
      - colcon.pkg
      - .pre-commit-config.yaml
  pull_request:
    paths-ignore:
      - doc/**
      - .gitlab-ci.yml
      - .gitignore
      - "**.md"
      - CITATION.*
      - COPYING.LESSER
      - colcon.pkg
      - .pre-commit-config.yaml
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

env:
  # This is needed on Windows because ellipsoid-joint-kinematics.py output
  # some utf8 char.
  # More detail here: https://gist.github.com/NodeJSmith/e7e37f2d3f162456869f015f842bcf15
  PYTHONIOENCODING: "utf8"

jobs:
  pinocchio-pixi:
    name: Standard - ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }}
    runs-on: ${{ matrix.os }}
    env:
      CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
      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:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, ubuntu-24.04-arm, macos-latest, macos-15-intel]
        environment: [all, all-python-oldest]
        build_type: [Release, Debug]

        include:
          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
          - os: ubuntu-latest
            BUILD_ADVANCED_TESTING: OFF
          - os: ubuntu-24.04-arm
            BUILD_ADVANCED_TESTING: OFF
          - os: macos-latest
            BUILD_ADVANCED_TESTING: OFF
          - os: macos-15-intel
            BUILD_ADVANCED_TESTING: OFF
          - os: windows-2022
            environment: all
            build_type: Release
            BUILD_ADVANCED_TESTING: OFF
          - os: windows-2022
            environment: all-clang-cl
            build_type: Release
            BUILD_ADVANCED_TESTING: OFF

    steps:
      # extract branch name or checkout devel branch for scheduled events
      - name: Get branch name or checkout devel
        shell: bash -el {0}
        run: |
          if [ "${{ github.event_name }}" == "schedule" ]; then
            echo "BRANCH_NAME=devel" >> $GITHUB_ENV
            echo "LABELS=build_all" >> $GITHUB_ENV
          else
            echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV
          fi

      - uses: actions/checkout@v7
        with:
          ref: ${{ env.BRANCH_NAME }}
          submodules: recursive

      - uses: actions/cache@v6
        with:
          path: .ccache
          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/setup-pixi@v0.10.0
        with:
          cache: true
          environments: ${{ matrix.environment }}

      # Avoid filling all disk space with debug symbols
      - name: Setup CMAKE_TOOLCHAIN_FILE
        if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug')
        run: |
          echo "CMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake" >> "$GITHUB_ENV"

      - name: Get Compilation Flags
        id: get_labels
        uses: actions/github-script@v9
        env:
          LABELS: ${{ env.LABELS }}
        with:
          script: |
            const script = require('./.github/workflows/scripts/get_compilation_flags.js');
            await script({github, context, core})
          result-encoding: string

      - name: Clear ccache statistics [MacOS/Linux/Windows]
        run: |
          pixi run -e ${{ matrix.environment }} ccache -z

      - name: Build Pinocchio [MacOS/Linux/Windows]
        shell: bash -el {0}
        env:
          CMAKE_BUILD_PARALLEL_LEVEL: 2
          PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
        run: |
          # Launch configure but overwrite default options
          pixi run -e ${{ matrix.environment }} configure \
            -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
            ${{ steps.get_labels.outputs.cmakeFlags }}
          pixi run -e ${{ matrix.environment }} cmake --build build --target all
          pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure
          pixi run -e ${{ matrix.environment }} cmake --install build

      - name: Uninstall Pinocchio
        shell: bash -el {0}
        run: |
          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

  pinocchio-python-standalone-pixi:
    name: Python standalone - ${{ matrix.os }} - Env ${{ matrix.environment }}
    runs-on: ${{ matrix.os }}
    env:
      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
      CCACHE_COMPRESS: true
      CCACHE_COMPRESSLEVEL: 6
      # 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

    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, ubuntu-24.04-arm, macos-latest, macos-15-intel, windows-2022]
        environment: [all]

    steps:
      # extract branch name or checkout devel branch for scheduled events
      - name: Get branch name or checkout devel
        shell: bash -el {0}
        run: |
          if [ "${{ github.event_name }}" == "schedule" ]; then
            echo "BRANCH_NAME=devel" >> $GITHUB_ENV
            echo "LABELS=build_all" >> $GITHUB_ENV
          else
            echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV
          fi

      - uses: actions/checkout@v7
        with:
          ref: ${{ env.BRANCH_NAME }}
          submodules: recursive

      - uses: actions/cache@v6
        with:
          path: .ccache
          key: ccache-python-standalone-macos-linux-conda-${{ matrix.os }}-${{ matrix.environment }}_${{ github.sha }}
          restore-keys: ccache-python-standalone-macos-linux-conda-${{ matrix.os }}-${{ matrix.environment }}_

      - uses: prefix-dev/setup-pixi@v0.10.0
        with:
          cache: true
          environments: ${{ matrix.environment }}

      - name: Get Compilation Flags
        id: get_labels
        uses: actions/github-script@v9
        env:
          LABELS: ${{ env.LABELS }}
        with:
          script: |
            const script = require('./.github/workflows/scripts/get_compilation_flags.js');
            await script({github, context, core})
          result-encoding: string

      - name: Clear ccache statistics [MacOS/Linux/Windows]
        run: |
          pixi run -e ${{ matrix.environment }} ccache -z

      # Following steps will modify the pixi environment
      - name: Build Pinocchio cpp [MacOS/Linux/Windows]
        shell: bash -el {0}
        env:
          CMAKE_BUILD_PARALLEL_LEVEL: 2
          PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
        run: |
          pixi run -e ${{ matrix.environment }} configure \
            -B build_cpp \
            -DBUILD_PYTHON_INTERFACE=OFF \
            ${{ steps.get_labels.outputs.cmakeFlags }}
          pixi run -e ${{ matrix.environment }} cmake --build build_cpp --target all
          pixi run -e ${{ matrix.environment }} cmake --install build_cpp
          pixi run -e ${{ matrix.environment }} ctest --test-dir build_cpp --output-on-failure

      - name: Build Pinocchio standalone python [MacOS/Linux/Windows]
        shell: bash -el {0}
        env:
          CMAKE_BUILD_PARALLEL_LEVEL: 2
          PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
        run: |
          pixi run -e ${{ matrix.environment }} configure \
            -DBUILD_PYTHON_INTERFACE=ON \
            -DBUILD_STANDALONE_PYTHON_INTERFACE=ON \
            -B build_python \
            ${{ steps.get_labels.outputs.cmakeFlags }}
          pixi run -e ${{ matrix.environment }} cmake --build build_python --target all
          pixi run -e ${{ matrix.environment }} cmake --install build_python
          pixi run -e ${{ matrix.environment }} ctest --test-dir build_python --output-on-failure

      - name: Display ccache statistics
        shell: bash -el {0}
        run: |
          pixi run -e ${{ matrix.environment }} ccache -sv

  # pinocchio-pixi-build:
  #   name: Pixi build - ${{ matrix.os }}
  #   runs-on: ${{ matrix.os }}

  #   strategy:
  #     fail-fast: false
  #     matrix:
  #       os: [ubuntu-latest, macos-latest, macos-15-intel, windows-2022]

  #   steps:
  #     - uses: actions/checkout@v7
  #       with:
  #         submodules: recursive

  #     - uses: prefix-dev/setup-pixi@v0.10.0
  #       env:
  #         CMAKE_BUILD_PARALLEL_LEVEL: 2
  #       with:
  #         cache: true
  #         environments: test-pixi-build

  #     - name: Test package [MacOS/Linux/Windows]
  #       run: |
  #         pixi run -e test-pixi-build test

  pinocchio-rtsan-build:
    name: RTSan build - ${{ matrix.name }}
    runs-on: ${{ matrix.os }}

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-latest
            name: Ubuntu (x86_64)
          - os: macos-latest
            name: MacOS (ARM64)

    steps:
      - uses: actions/checkout@v7
        with:
          submodules: recursive

      - uses: prefix-dev/setup-pixi@v0.10.0
        with:
          cache: true

      - name: Build with RTSan
        run: pixi run -e sanitizers build

      - name: Test with RTSan
        run: pixi run -e sanitizers test

  check:
    if: always()
    name: check-macos-linux-windows-pixi

    needs:
      - pinocchio-pixi
      - pinocchio-python-standalone-pixi
      # - pinocchio-pixi-build
      - pinocchio-rtsan-build

    runs-on: Ubuntu-latest

    steps:
      - name: Decide whether the needed jobs succeeded or failed
        uses: re-actors/alls-green@release/v1
        with:
          jobs: ${{ toJSON(needs) }}