linux-build.yml

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-20.04-clang-ppa-mrpt,
          ubuntu-20.04-gcc-ppa-mrpt,
          ubuntu-22.04-gcc-ppa-mrpt,
          ubuntu-22.04-clang-ppa-mrpt,
          ubuntu-22.04-gcc-default-mrpt,
        ]

        build_type: [ Release ]
        include:
          - name: ubuntu-20.04-clang-ppa-mrpt
            os: ubuntu-20.04
            compiler: clang
            install_mrpt_ppa: ON

          - name: ubuntu-20.04-gcc-ppa-mrpt
            os: ubuntu-20.04
            compiler: gcc
            install_mrpt_ppa: ON

          - name: ubuntu-22.04-gcc-ppa-mrpt
            os: ubuntu-22.04
            compiler: gcc
            install_mrpt_ppa: ON

          - name: ubuntu-22.04-clang-ppa-mrpt
            os: ubuntu-22.04
            compiler: clang
            install_mrpt_ppa: ON

          - name: ubuntu-22.04-gcc-default-mrpt
            os: ubuntu-22.04
            compiler: gcc
            install_mrpt_ppa: OFF

    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

          if [ "${{ matrix.install_mrpt_ppa }}" = "ON" ]; then
            sudo apt install software-properties-common -yq
            sudo add-apt-repository ppa:joseluisblancoc/mrpt -y
          fi

          sudo add-apt-repository ppa:borglab/gtsam-develop -y


          sudo apt install -yq \
            cmake build-essential \
            libmrpt-dev \
            libgtsam-dev libgtsam-unstable-dev \
            libboost-timer-dev

          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 -DCMAKE_VERBOSE_MAKEFILE=ON \
                -H. -Bbuild

      - name: Build
        run: |
          make -C build
          
      - name: Run tests
        run: |
          ctest --verbose --test-dir build