build.yml

name: Build

on: [push, pull_request]

env:
  BUILD_TYPE: Release

defaults:
  run:
    shell: bash

jobs:
  build:
    runs-on: ${{ matrix.os }}

    strategy:
      fail-fast: false
      matrix:
        include:
        - os: ubuntu-20.04
          package_manager: "apt"

        - os: macos-11.0
          package_manager: "brew"

        # - os: windows-2019
        #   package_manager: "vcpkg"

    steps:
    - name: Checkout Eigen
      uses: actions/checkout@v2
      with:
        path: ${{runner.workspace}}/Pangolin/eigen
        repository: 'eigen-mirror/eigen'
        ref: e7248b26a1ed53fa030c5c459f7ea095dfd276ac

    - name: Checkout expected
      uses: actions/checkout@v2
      with:
        path: ${{runner.workspace}}/Pangolin/expected
        repository: 'TartanLlama/expected'
        ref: b74fecd4448a1a5549402d17ddc51e39faa5020c

    - name: Checkout fmt
      uses: actions/checkout@v2
      with:
        path: ${{runner.workspace}}/Pangolin/fmt
        repository: 'fmtlib/fmt'
        ref: 8.1.1

    - name: Checkout farm-ng-cmake
      uses: actions/checkout@v2
      with:
        path: ${{runner.workspace}}/Pangolin/farm_ng_cmake
        repository: 'farm-ng/farm-ng-cmake'
        ref: 6e8cbd78b74cc2e6db078fbcef4348229b8a0cf2

    - name: Checkout farm-ng-core
      uses: actions/checkout@v2
      with:
        path: ${{runner.workspace}}/Pangolin/farm_ng_core
        repository: 'farm-ng/farm-ng-core'
        ref: ff841025c374e6ec8560412c3b5e28f1f6986a79

    - name: Checkout Sophus
      uses: actions/checkout@v2
      with:
        path: ${{runner.workspace}}/Pangolin/Sophus
        repository: 'strasdat/Sophus'
        ref: a4070695b4bca492647a7966e4cb50f90a44ec95

    - name: Checkout Pangolin
      uses: actions/checkout@v2
      with:
        path: ${{runner.workspace}}/Pangolin/Pangolin

    - name: List CI files
      run: |
        find ${{runner.workspace}} -not -path '*/.*'

    - name: Install Dependencies
      run: |
        echo "Using ${{matrix.package_manager}} as package manager."
        echo "vcpkg location: $(which vcpkg)"
        echo "CMake toolchain file: $TOOLCHAIN_FILE"
        ${{runner.workspace}}/Pangolin/Pangolin/scripts/install_prerequisites.sh -v -u -m ${{matrix.package_manager}} required

    - name: Build Dependencies
      run: |
        set -x

        cmakeconf() {
          cmake \
            -S ${{runner.workspace}}/Pangolin/$1 \
            -B ${{runner.workspace}}/Pangolin/$1/build \
            -DFARM_NG_BUILD_TESTS=off \
            -DBUILD_FARM_NG_PROTOS=OFF \
            -DCMAKE_BUILD_TYPE=$BUILD_TYPE \
            -DCMAKE_TOOLCHAIN_FILE="$TOOLCHAIN_FILE" \
            -DCMAKE_INSTALL_PREFIX=${{runner.workspace}}/Pangolin/usr \
            -DCMAKE_MODULE_PATH=${{runner.workspace}}/Pangolin/usr/share/cmake \
            ${@:2}
        }
        cmakeconfbuild() {
          cmakeconf "$@"
          cmake --build ${{runner.workspace}}/Pangolin/$1/build --config $BUILD_TYPE
        }
        cmakeconfbuildinstall() {
          cmakeconfbuild "$@"
          cmake --build ${{runner.workspace}}/Pangolin/$1/build -- install
        }

        cmakeconfbuildinstall eigen
        cmakeconfbuildinstall fmt -DFMT_TEST=off -DBUILD_SHARED_LIBS=on
        cmakeconfbuildinstall expected -DEXPECTED_BUILD_TESTS=off
        cmakeconfbuildinstall farm_ng_cmake
        cmakeconfbuildinstall farm_ng_core
        cmakeconfbuild Sophus -DBUILD_SOPHUS_TESTS=OFF

    - name: Configure Pangolin
      run: |
        cmake \
        -S ${{runner.workspace}}/Pangolin/Pangolin \
          -B ${{runner.workspace}}/Pangolin/Pangolin/build \
          -DCMAKE_INSTALL_PREFIX=${{runner.workspace}}/Pangolin/usr \
          -DCMAKE_MODULE_PATH=${{runner.workspace}}/Pangolin/usr/share/cmake \
          -DSophus_DIR=${{runner.workspace}}/Pangolin/Sophus/build \
          -Dfarm_ng_core_DIR=${{runner.workspace}}/Pangolin/farm_ng_core/build \
          -DCMAKE_BUILD_TYPE=$BUILD_TYPE \
          -DCMAKE_TOOLCHAIN_FILE="$TOOLCHAIN_FILE"

    - name: Build Pangolin
      run: cmake --build ${{runner.workspace}}/Pangolin/Pangolin/build --config $BUILD_TYPE

    # - name: "(vcpkg only) Setup cache key"
    #   if: ${{ matrix.package_manager == 'vcpkg' }}
    #   run: |
    #     export PACKAGES=$($GITHUB_WORKSPACE/scripts/install_prerequisites.sh -l -m ${{matrix.package_manager}} all)
    #     echo "PACKAGES=$PACKAGES" >> $GITHUB_ENV

    # - name: "(vcpkg only) Restore any cached ports"
    #   uses: lukka/run-vcpkg@v6
    #   if: ${{ matrix.package_manager == 'vcpkg' }}
    #   with:
    #     setupOnly: true
    #     vcpkgDirectory: '${{github.workspace}}/scripts/vcpkg'
    #     appendedCacheKey: '${{env.PACKAGES}}'
    #     vcpkgTriplet: x64-windows

    # - name: "(vcpkg only) Setup CMake Toolchain file"
    #   if: ${{ matrix.package_manager == 'vcpkg' }}
    #   run: |
    #     export TOOLCHAIN_FILE="${{github.workspace}}/scripts/vcpkg/scripts/buildsystems/vcpkg.cmake"
    #     echo "${{github.workspace}}/scripts/vcpkg" >> $GITHUB_PATH
    #     echo "TOOLCHAIN_FILE=$TOOLCHAIN_FILE" >> $GITHUB_ENV

    # - name: Configure CMake
    #   run: |
    #     cmake -B build -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_TOOLCHAIN_FILE="$TOOLCHAIN_FILE" -DBUILD_TESTS=ON

    # - name: Build
    #   run: cmake --build build --config $BUILD_TYPE

    - name: Run all tests
      working-directory: ${{runner.workspace}}/Pangolin/Pangolin/build
      run: ctest

  # emscripten:
  #   runs-on: ubuntu-20.04

  #   steps:
  #   - name: Checkout Pangolin
  #     uses: actions/checkout@v2
  #     with:
  #       path: pangolin

  #   - name: Checkout Eigen
  #     uses: actions/checkout@v2
  #     with:
  #       path: eigen
  #       repository: 'libigl/eigen'

  #   - name: Create Build Directories
  #     run: |
  #       cmake -E make_directory ${{runner.workspace}}/eigen-build
  #       cmake -E make_directory ${{runner.workspace}}/pangolin-build

  #   - name: Start Emscripten Docker
  #     run: docker run -dit --name emscripten -v ${{runner.workspace}}:/src emscripten/emsdk:latest bash

  #   - name: Configure Eigen
  #     run: docker exec -t -w /src/eigen-build emscripten cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE /src/Pangolin/eigen

  #   - name: Configure Pangolin
  #     run: docker exec -t -w /src/pangolin-build emscripten emcmake cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DEigen3_DIR=/src/eigen-build /src/Pangolin/pangolin

  #   - name: Build Pangolin
  #     run: docker exec -t -w /src/pangolin-build emscripten cmake --build .

  #   - name: Copy Examples to www folder
  #     run: |
  #       mkdir -p ${{runner.workspace}}/www/emscripten
  #       rsync -zarvm --include="*/" --include="*.html" --include="*.js" --include="*.wasm" --exclude="*" ${{runner.workspace}}/pangolin-build/examples ${{runner.workspace}}/www/emscripten

  #   - name: Copy README to www folder
  #     run: |
  #       cp "${{github.workspace}}/pangolin/README.md" "${{runner.workspace}}/www/index.md"

  #   - name: Deploy Examples to GitHub Pages (for pushes to master)
  #     if: success() && (github.ref == 'refs/heads/master')
  #     uses: crazy-max/ghaction-github-pages@v2.2.0
  #     with:
  #       target_branch: gh-pages
  #       keep_history: true
  #       # build_dir path relative to ${{runner.workspace}}/Pangolin
  #       build_dir: ../www
  #     env:
  #       GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}