ci.yml

name: CI

on:
  push:
    branches:
      - 'main'
  pull_request:
    types: [opened, synchronize, reopened, ready_for_review]
  workflow_dispatch:

jobs:
  test-on-ubuntu:
    if: github.event.event_name == 'workflow_dispatch' || github.event.pull_request.draft == false
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04, ubuntu-22.04]
        python: [python3.8, python3.9, python3.10, python3.11]
        compiler:
          - C: gcc-11
            CXX: g++-11
            package: g++-11
            repos: ['"ppa:ubuntu-toolchain-r/test"']
        include:
          # gcc 5
          - os: ubuntu-20.04
            python: python3.8
            compiler:
              C: gcc-5
              CXX: g++-5
              package: g++-5
              repos:
              - '"deb http://us.archive.ubuntu.com/ubuntu/ bionic main"'
              - '"deb http://us.archive.ubuntu.com/ubuntu/ bionic universe"'
          # Clang 7
          - os: ubuntu-20.04
            python: python3.8
            compiler:
              C: clang-7
              CXX: clang++-7
              package: clang-7
              repos: []
          # Clang 15
          - os: ubuntu-22.04
            python: python3.10
            compiler:
              C: clang-15
              CXX: clang++-15
              package: clang-15
              repos: []
    steps:
      - name: Checkout
        uses: actions/checkout@v3

      # - Installing software-properties-common adds add-apt-repository
      - name: Update install tools
        run: |
          sudo apt-get update
          sudo apt-get install -y software-properties-common curl

      # - Adding matrix.compiler.repos is needed to have compiler available on all ubuntu versions
      - name: Install C and CXX compilers
        run: |
          for repo in ${{ join(matrix.compiler.repos, ' ') }}
          do
            sudo add-apt-repository -y "$repo"
          done
          sudo apt-get install -y ${{ matrix.compiler.package }}

      # - ppa:deadsnakes/ppa is needed to have python3.x-dev available on all ubuntu versions
      # - python3.x-dev is used instead of python3.x because the -dev version includes python header
      # files needed to compile C extension modules
      - name: Install python
        run: |
          sudo add-apt-repository -y ppa:deadsnakes/ppa
          sudo apt-get install -y \
            ${{ matrix.python }}-dev \
            ${{ matrix.python }}-distutils \
            ${{ matrix.python }}-venv
          curl https://bootstrap.pypa.io/get-pip.py | ${{ matrix.python }}
          pip install --upgrade setuptools

      - name: Install general build dependencies
        run: |
            sudo apt-get install -y \
              doxygen \
              libgmp-dev \
              pandoc

      # NOTE(brad): libunwind-dev is a broken dependency of libgoogle-glog-dev, itself
      # a dependency of ceres. Without this step on jammy, apt-get install libgoogle-glog-dev
      # would fail. If this step could be removed and still have the build succeed, it should.
      - name: Fix libunwind-dev install on jammy
        if: ${{ matrix.os == 'ubuntu-22.04' }}
        run: |
          sudo apt-get install -yf libunwind-dev

      - name: Install build dependencies for SymForce benchmarks
        run: |
            sudo apt-get install -y \
              libboost-dev \
              libboost-serialization-dev \
              libboost-system-dev \
              libboost-filesystem-dev \
              libboost-thread-dev \
              libboost-program-options-dev \
              libboost-date-time-dev \
              libboost-timer-dev \
              libboost-chrono-dev \
              libboost-regex-dev \
              libgoogle-glog-dev \
              libeigen3-dev

      - name: Install python dependencies
        run: pip install -r dev_requirements.txt

      - name: Run cmake build
        run: |
          cmake -B build \
            -D CMAKE_C_COMPILER=${{ matrix.compiler.C }} \
            -D CMAKE_CXX_COMPILER=${{ matrix.compiler.CXX }} \
            -D "SYMFORCE_COMPILE_OPTIONS=-Wall;-Wextra;-Werror" \
            -D SYMFORCE_PYTHON_OVERRIDE=${{ matrix.python }} \
            -D SYMFORCE_BUILD_BENCHMARKS=ON
          cmake --build build -j $(nproc)

      # - lcmtypes need to be available for tests
      # - Exact contents of dev_requirements.txt depend on python version. Need to update file to
      # match current python version to avoid failure of corresponding gen test. symforce needs
      # to be on the PYTHONPATH to run gen test in this manner.
      - name: Run tests
        run: |
          pip install build/lcmtypes/python2.7
          export PYTHONPATH=$PYTHONPATH:$(pwd)
          ${{ matrix.python }} test/symforce_requirements_test.py --update
          EXIT_CODE=0
          ctest --test-dir build -j $(nproc) || EXIT_CODE=$?
          if [ $EXIT_CODE -ne 0 ]; then
            ctest --test-dir build -j $(nproc) --rerun-failed --output-on-failure
          fi

      # Upload the docs as an artifact
      # To view, download the `docs` artifact from the build and matrix entry you're interested in
      # (probably any is good, assuming they all pass)
      # Unzip to a directory and run `npx http-server` in that directory
      - name: Upload Generated Docs
        uses: actions/upload-artifact@v3
        with:
          name: docs ${{ matrix.os }}-${{ matrix.python }}-${{ matrix.compiler.C }}
          path: build/docs