build-linux.yml

# Based on GTSAM file (by @ProfFan)
name: CI Linux

on: [push, pull_request]

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

    env:
      CTEST_OUTPUT_ON_FAILURE: ON
      CTEST_PARALLEL_LEVEL: 1
      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
      VERBOSE: 1  # to show all cmake scripts debug info

    strategy:
      fail-fast: false
      matrix:
        # Github Actions requires a single row to be added to the build matrix.
        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
        name: [
          ubuntu-latest-clang,
          ubuntu-latest-gcc
        ]

        build_type: [ Release ]
        include:
          - name: ubuntu-latest-clang
            os: ubuntu-latest
            compiler: clang
            coverage: OFF

          - name: ubuntu-latest-gcc
            os: ubuntu-latest
            compiler: gcc
            coverage: ON

    steps:
      - name: Checkout
        uses: actions/checkout@master

      - name: Git submodule
        run: |
          git submodule sync
          git submodule update --init --recursive

      - name: Install Dependencies
        run: |
          # See bug/issue: https://github.com/orgs/community/discussions/47863
          sudo apt-mark hold grub-efi-amd64-signed 

          sudo apt-get -y update
          sudo apt-get -y upgrade

          sudo apt install cmake build-essential cmake libwxgtk3.0-gtk3-dev \
                           libopencv-dev libeigen3-dev libgtest-dev \
                           freeglut3-dev libglfw3-dev libassimp-dev \
                           libglu1-mesa-dev libqt5opengl5-dev qtbase5-dev \
                           libxrandr-dev libxxf86vm-dev \
                           libftdi-dev libusb-1.0-0-dev libudev-dev libfreenect-dev \
                           libavformat-dev libswscale-dev libpcap-dev \
                           liboctomap-dev libopenni2-dev \
                           libtinyxml2-dev \
                           libdc1394-dev \
                           yamllint

          if [ "${{ matrix.os }}" = "ubuntu-latest" ]; then
            sudo apt install libicu-dev libsimpleini-dev
            # to enable pymrpt:
            sudo apt install pybind11-dev python3-dev #python3-numpy
          fi

          if [ "${{ matrix.compiler }}" = "gcc" ]; then
            sudo apt-get install -y g++ g++
            echo "CC=gcc" >> $GITHUB_ENV
            echo "CXX=g++" >> $GITHUB_ENV
          else
            sudo apt-get install -y clang g++-multilib
            echo "CC=clang" >> $GITHUB_ENV
            echo "CXX=clang++" >> $GITHUB_ENV
          fi

      - name: CMake configure
        run: |
          cmake -DMRPT_BUILD_EXAMPLES=On \
                -DMRPT_BUILD_TESTING=On \
                -DMRPT_ENABLE_COVERAGE="${{ matrix.coverage }}" \
                -DMRPT_ALLOW_LGPLV3=ON \
                -DCMAKE_VERBOSE_MAKEFILE=ON \
                -H. -Bbuild

      - name: Unit tests
        run: |
          make -C build tests_build_all
          make test_legacy -C build -j1
          if [ "${{ matrix.coverage }}" = "ON" ]; then
            make gcov -C build
            bash <(curl -s https://codecov.io/bash) -X gcov -y .codecov.yml -s build
          fi

      - name: Build all
        run: |
          make -C build