ci.yml

name: C++ CI Workflow

on:
  push:
  pull_request:
  schedule:
  # * is a special character in YAML so you have to quote this string
  # Execute a "nightly" build at 2 AM UTC
  - cron:  '0 2 * * *'

env:
  manif_TAG: 78cc83d8292736b26a3a4f6d302057a6b80056a4

# Test with different operating systems
jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Debug, Release]
        os: [ubuntu-latest, macOS-latest, windows-latest]
      fail-fast: false

    # operating system dependences
    steps:
    - uses: actions/checkout@master

    # Print environment variables to simplify development and debugging
    - name: Environment Variables
      shell: bash
      run: env

    # ============
    # DEPENDENCIES
    # ============

    # Remove apt repos that are known to break from time to time
    # See https://github.com/actions/virtual-environments/issues/323
    - name: Remove broken apt repos [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    - name: Dependencies [Windows]
      if: matrix.os == 'windows-latest'
      run: |
        vcpkg install --triplet x64-windows eigen3

    - name: Dependencies [macOS]
      if: matrix.os == 'macOS-latest'
      run: |
        brew install eigen

    - name: Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      run: |
        sudo apt-get update
        sudo apt-get install git build-essential cmake libeigen3-dev valgrind

    - name: Cache Source-based Dependencies
      id: cache-source-deps
      uses: actions/cache@v1
      with:
        path: ${{ github.workspace }}/install/deps
        key: source-deps-${{ runner.os }}-manif-${{ env.manif_TAG }}

    - name: Source-based Dependencies [Windows]
      if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-latest'
      shell: bash
      run: |
        # manif
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/artivis/manif
        cd manif
        git checkout ${manif_TAG}
        mkdir -p build
        cd build
        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
                     -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..

        cmake --build . --config ${{ matrix.build_type }} --target INSTALL

    - name: Source-based Dependencies [Ubuntu/macOS]
      if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')
      shell: bash
      run: |
        # manif
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/artivis/manif
        cd manif
        git checkout ${manif_TAG}
        mkdir -p build
        cd build
        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
        cmake --build . --config ${{ matrix.build_type }} --target install

    # ===================
    # CMAKE-BASED PROJECT
    # ===================

    - name: Configure [Windows]
      if: matrix.os == 'windows-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
              -DBUILD_TESTING:BOOL=ON ..

    - name: Configure [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DBUILD_TESTING:BOOL=ON \
              -DLIEGROUPCONTROLLERS_RUN_Valgrind_tests:BOOL=ON ..

    - name: Configure [macOS]
      if: matrix.os == 'macOS-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
              -DBUILD_TESTING:BOOL=ON ..

    - name: Build
      shell: bash
      run: |
        cd build
        export PATH=$PATH:/d/a/lie-group-controllers/lie-group-controllers/install/bin:/d/a/lie-group-controllers/lie-group-controllers/install/deps/bin
        cmake --build . --config ${{ matrix.build_type }}

    - name: Test
      shell: bash
      run: |
        cd build
        export PATH=$PATH:/d/a/lie-group-controllers/lie-group-controllers/install/bin:/d/a/lie-group-controllers/lie-group-controllers/install/deps/bin
        ctest --output-on-failure -C ${{ matrix.build_type }} .