name: Linux / MacOS - c++

on:
  push:
    branches: [ main ]
  pull_request:

  workflow_dispatch:

jobs:
  build:
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        include:
          - test: unit_tests
            os: ubuntu-22.04
            access: row_major
            ensure: default_panic
            compiler: clang
          - test: unit_tests
            os: ubuntu-24.04
            access: col_major
            ensure: default_panic
            compiler: clang
          - test: unit_tests
            os: ubuntu-22.04
            access: col_major
            ensure: default_panic
            compiler: gcc
          - test: unit_tests
            os: ubuntu-24.04
            access: col_major
            ensure: default_panic
            compiler: gcc
          - test: unit_tests
            os: macos-13
            access: col_major
            ensure: default_panic
            compiler: clang
          - test: unit_tests
            os: macos-14
            access: col_major
            ensure: default_panic
            compiler: clang
          - test: install_test
            os: ubuntu-22.04
            access: col_major
            ensure: default_panic
            compiler: clang
          - test: install_test
            os: ubuntu-22.04
            access: col_major
            ensure: custom_handler
            compiler: clang
          - test: install_test
            os: macos-14
            access: col_major
            ensure: default_panic
            compiler: clang
          - test: install_test
            os: macos-14
            access: col_major
            ensure: custom_handler
            compiler: clang

      fail-fast: false

    steps:
      - name: Set default value for for environment variables
        run: |
          echo "ROW_MAJOR_DEFAULT=OFF" >> $GITHUB_ENV
          echo "SOPHUS_ENABLE_ENSURE_HANDLER=OFF" >> $GITHUB_ENV

      - name: Update ROW_MAJOR_DEFAULT=ON if condition is met
        if: matrix.access == 'row_major'
        run: echo "ROW_MAJOR_DEFAULT=ON" >> $GITHUB_ENV

      - name: Update SOPHUS_ENABLE_ENSURE_HANDLER=ON if condition is met
        if: matrix.ensure == 'custom_handler'
        run: echo "SOPHUS_ENABLE_ENSURE_HANDLER=ON" >> $GITHUB_ENV

      - uses: actions/checkout@v2

      - name: ccache
        uses: hendrikmuhs/ccache-action@v1
        with:
          key: ${{ runner.os }}-${{ matrix.os }}-${{ matrix.access }}-${{ matrix.ensure }}-${{ matrix.compiler }}
          restore-keys: |
            ${{ runner.os }}-${{ matrix.os }}-${{ matrix.access }}-${{ matrix.ensure }}-${{ matrix.compiler }}

      - name: Install dependencies (Linux incl. Ceres)
        run: ./scripts/install_ubuntu_deps_incl_ceres.sh
        if: matrix.os == 'ubuntu-22.04' || matrix.os == 'ubuntu-24.04'

      - name: Install dependencies (Mac OS incl. Ceres)
        run: ./scripts/install_osx_deps_incl_ceres.sh
        if: matrix.os == 'macos-14' || matrix.os == 'macos-13'

      - name: Build (gcc) and run tests
        run: ./scripts/run_cpp_tests_gcc.sh
        if: matrix.test == 'unit_tests' && matrix.compiler == 'gcc'

      - name: Build (clang) and run tests
        run: ./scripts/run_cpp_tests_clang.sh
        if: matrix.test == 'unit_tests' && matrix.compiler == 'clang'

      - name: Install test
        run: |
          echo "Install test"
          mkdir build_dir
          cd build_dir
          cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache .. -DBUILD_SOPHUS_TESTS=Off -DCMAKE_COMPILE_WARNING_AS_ERROR=On -DSOPHUS_ENABLE_ENSURE_HANDLER=$SOPHUS_ENABLE_ENSURE_HANDLER
          # Ubuntu builds via Github actions run on 2-core virtual machines
          make -j2
          sudo make install
          cd ..
          cd examples
          mkdir build_dir
          cd build_dir
          cmake ..
          make
          ls -la
          ./hello_so3
        if: matrix.test == 'install_test'