cmake.yml

name: CMake

on: [pull_request, push]

concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
  cancel-in-progress: true

jobs:
  build:
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-22.04
            name: Linux
            container: wpilib/roborio-cross-ubuntu:2024-22.04
            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
          - os: macOS-12
            name: macOS
            container: ""
            env: "PATH=\"/usr/local/opt/protobuf@3/bin:$PATH\""
            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"

    name: "Build - ${{ matrix.name }}"
    runs-on: ${{ matrix.os }}
    container: ${{ matrix.container }}
    steps:
      - name: Install dependencies (Linux)
        if: runner.os == 'Linux'
        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 libprotobuf-dev protobuf-compiler ninja-build

      - name: Install QuickBuffers (Linux)
        if: runner.os == 'Linux'
        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf_1.3.3_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.3_amd64.deb

      - name: Install opencv (macOS)
        run: brew install opencv protobuf@3 ninja
        if: runner.os == 'macOS'

      - name: Set up Python 3.8 (macOS)
        if: runner.os == 'macOS'
        uses: actions/setup-python@v5
        with:
          python-version: 3.8

      - name: Run sccache-cache
        uses: mozilla-actions/sccache-action@v0.0.3

      - name: Install jinja
        run: python -m pip install jinja2

      - uses: actions/checkout@v4

      - name: configure
        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ${{ matrix.flags }}
        env:
          SCCACHE_GHA_ENABLED: "true"

      - name: build
        working-directory: build
        run: cmake --build . --parallel $(nproc)
        env:
          SCCACHE_GHA_ENABLED: "true"

      - name: test
        working-directory: build
        run: ctest --output-on-failure

  build-windows:
    name: "Build - Windows"
    runs-on: windows-2022
    steps:
      - name: Check XZ-Utils Upstream
        # If this fails, tukaani-project/xz is back online and the liblzma overlay patch should be removed.
        run:  Invoke-RestMethod -SkipHttpErrorCheck -StatusCodeVariable "sc" -Uri https://api.github.com/repos/tukaani-project/xz > $null; if($sc -eq 200) {$LastExitCode = 1; Write-Output "tuukani-project/xz is reachable. liblzma overlay patch should be removed."} else { $LastExitCode = 0}

      - uses: ilammy/msvc-dev-cmd@v1

      - name: Install CMake
        uses: lukka/get-cmake@v3.27.6

      - name: Run sccache-cache
        uses: mozilla-actions/sccache-action@v0.0.3

      - name: Install jinja
        run: python -m pip install jinja2

      - uses: actions/checkout@v4

      - name: Run vcpkg
        uses: lukka/run-vcpkg@v11.1
        with:
          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24

      - name: configure
        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
        env:
          SCCACHE_GHA_ENABLED: "true"

      - name: build
        working-directory: build
        run: cmake --build . --parallel $(nproc)
        env:
          SCCACHE_GHA_ENABLED: "true"

      - name: test
        working-directory: build
        # UnitTest_test segfaults on exit occasionally
        run: ctest --output-on-failure -E 'UnitTest'