name: CMake-Linux

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

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 }}
    concurrency:
      group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.build_name }}
      cancel-in-progress: true
    strategy:
      fail-fast: true
      matrix:
        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04]
        include:
        # GTSAM is in no Ubuntu release, and libg2o-dev only appears in the
        # archive from noble on (jammy has no g2o at all).
        #
        # 26.04 builds GTSAM itself (gtsam_ref) rather than taking it from the
        # ROS repo: that runner is on Ubuntu's amd64v3 variant, so rtabmap and
        # the archive libraries are AVX builds where Eigen aligns to 32, while
        # the ROS binary is plain x86-64 where it aligns to 16 and uses plain
        # malloc/free. Allocating on one side and freeing on the other gives
        # "double free or corruption (out)". Forcing EIGEN_MAX_ALIGN_BYTES=16
        # on rtabmap would only move the mismatch onto PCL, g2o and Ceres.
        - build_name: ubuntu-22.04
          os: ubuntu-22.04
          extra_deps: "libunwind-dev libceres-dev"
          ros_deps: "ros-humble-libg2o ros-humble-gtsam"
          ros_prefix: "/opt/ros/humble"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON"
        - build_name: ubuntu-24.04
          os: ubuntu-24.04
          extra_deps: "libg2o-dev libceres-dev"
          ros_deps: "ros-jazzy-gtsam"
          ros_prefix: "/opt/ros/jazzy"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON"
        - build_name: ubuntu-24.04-with-opengv
          os: ubuntu-24.04
          extra_deps: "libg2o-dev libceres-dev"
          ros_deps: "ros-jazzy-gtsam"
          ros_prefix: "/opt/ros/jazzy"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON -DBUILD_OPENGV=ON"
        - build_name: ubuntu-26.04
          os: ubuntu-26.04
          # libboost-all-dev for the GTSAM build
          extra_deps: "libg2o-dev libceres-dev libboost-all-dev"
          ros_deps: ""
          ros_prefix: ""
          # The tag ros-lyrical-gtsam 4.3.0 is built from
          gtsam_ref: "4.3a0-ros"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON -DBUILD_OPENGV=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 Linux Dependencies
      run: |
        DEBIAN_FRONTEND=noninteractive
        sudo apt-get update
        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev curl gnupg lsb-release ${{ matrix.extra_deps }}

    - name: Install Graph Optimizers From The ROS Repo
      if: matrix.ros_deps != ''
      env:
        DEBIAN_FRONTEND: noninteractive
      run: |
        sudo curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
          -o /usr/share/keyrings/ros-archive-keyring.gpg
        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
          | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
        sudo apt-get update
        sudo apt-get -y install ${{ matrix.ros_deps }}

    # The compiler's x86-64 baseline, for the cache key: it decides Eigen's
    # alignment, so a GTSAM built under one must not be restored under the
    # other. v3 packages still declare Architecture: amd64, so dpkg cannot tell.
    - name: Toolchain baseline
      if: matrix.gtsam_ref != ''
      id: toolchain
      run: |
        avx=$(echo | gcc -dM -E -x c++ - | grep -c __AVX__ || true)
        echo "gcc $(gcc -dumpversion), __AVX__=$avx"
        echo "id=gcc$(gcc -dumpversion)-avx${avx}" >> "$GITHUB_OUTPUT"

    - name: Restore GTSAM
      if: matrix.gtsam_ref != ''
      id: cache-gtsam
      uses: actions/cache@v4
      with:
        path: ${{github.workspace}}/gtsam-install
        key: gtsam-${{ matrix.gtsam_ref }}-${{ matrix.os }}-${{ steps.toolchain.outputs.id }}

    - name: Build GTSAM
      if: matrix.gtsam_ref != '' && steps.cache-gtsam.outputs.cache-hit != 'true'
      run: |
        git clone --depth 1 --branch ${{ matrix.gtsam_ref }} https://github.com/borglab/gtsam.git ${{runner.temp}}/gtsam-src
        # Tag-specific fixes, named after the tag.
        patch_file="${{github.workspace}}/patches/gtsam_$(echo '${{ matrix.gtsam_ref }}' | tr '.' '_').patch"
        if [ -f "$patch_file" ]; then
          echo "Applying $patch_file"
          git -C ${{runner.temp}}/gtsam-src apply "$patch_file"
        fi
        cmake -S ${{runner.temp}}/gtsam-src -B ${{runner.temp}}/gtsam-build \
          -DCMAKE_BUILD_TYPE=Release \
          -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/gtsam-install \
          -DGTSAM_USE_SYSTEM_EIGEN=ON \
          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
          -DGTSAM_BUILD_WITH_WERROR=OFF \
          -DGTSAM_BUILD_TESTS=OFF \
          -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
          -DGTSAM_BUILD_UNSTABLE=OFF \
          -DGTSAM_BUILD_PYTHON=OFF \
          -DBUILD_SHARED_LIBS=ON
        cmake --build ${{runner.temp}}/gtsam-build --target install -j $(nproc)

    - name: Set up Python
      uses: actions/setup-python@v5
      with:
        python-version: '3.x'

    - name: Install Python Dependencies
      run: |
        python -m pip install --upgrade pip
        pip install numpy pybind11

    - name: Configure CMake
      run: |
        # Both prefixes when a job has both.
        prefix_path="${{ matrix.ros_prefix }}"
        if [ -d "${{github.workspace}}/gtsam-install" ]; then
          prefix_path="${prefix_path:+$prefix_path;}${{github.workspace}}/gtsam-install"
        fi
        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_PREFIX_PATH="$prefix_path" -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ 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: |
        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}"
        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install"
        ./rtabmap-console --version

    - name: Test
      working-directory: ${{github.workspace}}/build
      # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
      # loading numpy / other site-packages from ~/.local that were compiled
      # against a different ABI than the build-time Python (causes numpy
      # 1.x/2.x mismatch crashes in test_pydetector / test_pydescriptor /
      # test_pymatcher).
      env:
        PYTHONNOUSERSITE: 1
      run: |
        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}"
        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install"
        # Keep a core file per crashing test, for the backtrace step below: an
        # abort otherwise leaves only its message, and may not reproduce
        # elsewhere.
        ulimit -c unlimited
        sudo sysctl -w kernel.core_pattern="${{github.workspace}}/build/core.%e.%p" > /dev/null
        ctest -C ${{env.BUILD_TYPE}} -V -LE performance

    - name: Backtrace of crashed tests
      if: failure()
      working-directory: ${{github.workspace}}/build
      run: |
        shopt -s nullglob
        cores=(core.*)
        if [ ${#cores[@]} -eq 0 ]; then
          echo "No core file: the failure was an assertion or a wrong value, not a crash."
          exit 0
        fi
        sudo apt-get -y install gdb
        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}"
        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install"
        for core in "${cores[@]}"; do
          exe="${core#core.}"
          exe="bin/${exe%.*}"
          echo "::group::$core ($exe)"
          gdb -batch -ex "thread apply all bt" "$exe" "$core" || true
          echo "::endgroup::"
        done