name: CMake-MacOS

on:
  push:
    branches: 
      - master
  pull_request:
    branches: 
      - '**'

env:
  BUILD_TYPE: Release

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

jobs:
  build:
    name: ${{ matrix.build_name }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: true
      matrix:
        build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon]
        include:
        - build_name: macos-sequoia-intel
          os: macos-15-intel
          extra_deps: ""
          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
        - build_name: macos-sequoia-apple-silicon
          os: macos-15
          extra_deps: ""
          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
        - build_name: macos-tahoe-intel
          os: macos-26-intel
          extra_deps: ""
          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
        - build_name: macos-tahoe-apple-silicon
          os: macos-26
          extra_deps: ""
          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'

    steps:
    - uses: actions/checkout@v4

    - name: Restore test data
      id: cache-testdata
      uses: actions/cache@v4
      with:
        # SQLite DBs are binary-portable -> share the cache across
        # linux / macos / windows. Key omits runner.os on purpose so all
        # three OSes hit the same entry.
        path: data/tests/*.db
        key: testdata-${{ hashFiles('data/tests/manifest.txt') }}

    - name: Fetch test data
      if: steps.cache-testdata.outputs.cache-hit != 'true'
      shell: bash
      run: bash scripts/fetch_test_data.sh

    - name: Install Brew Dependencies
      run: |
        # Update brew and install from Brewfile if present, or specific packages
        brew install pcl opencv octomap g2o pdal

    - name: Configure CMake
      run: |
        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBUILD_TESTING=ON ${{ matrix.extra_cmake_def }}

    - name: Build
      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

    - name: Info
      working-directory: ${{github.workspace}}/build/bin
      run: |
        ./rtabmap-console --version

#    - name: Build MacOS Package
#      run: |
#        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package

#    - name: Upload RTABMap Artifacts (DMG)
#      uses: actions/upload-artifact@v4
#      with:
#        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
#        path: |
#          build/RTABMap-*.dmg
#        compression-level: 0
#        if-no-files-found: warn
#        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}

    - name: Test
      working-directory: ${{github.workspace}}/build
      run: |
        ctest -C ${{env.BUILD_TYPE}} --output-on-failure
        ctest -C ${{env.BUILD_TYPE}} --output-on-failure --rerun-failed