name: CMake-Windows

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: [windows-2022, windows-2022-cuda]
        include:
        - build_name: windows-2022
          os: windows-2022
          extra_deps: ""
          extra_cmake_def: '-DWITH_TORCH=OFF -DWITH_ZED=OFF'
        - build_name: windows-2022-cuda
          os: windows-2022
          extra_deps: ""
          extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON'

    steps:
    - uses: actions/checkout@v4

    - name: Install Windows Dependencies
      if: matrix.build_name == 'windows-2022'
      uses: ./.github/actions/install-windows-deps
 
    - name: Install Windows Dependencies with CUDA
      if: matrix.build_name == 'windows-2022-cuda'
      uses: ./.github/actions/install-windows-cuda-deps

    - name: Configure CMake
      run: |
        # K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake
        # and the install rules), pointing at the export where the bundle staged their SDK files.
        $env:K4A_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
        $env:KINECTSDK20_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
        $env:ZED_SDK_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
        cmake `
          -B ${{github.workspace}}/build `
          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
          -DBUILD_AS_BUNDLE=ON `
          -DWITH_PYTHON=ON `
          -DWITH_CERES=ON `
          -DWITH_ORBBEC_SDK=ON `
          -DWITH_FREENECT2=ON `
          -DWITH_K4W2=ON `
          -DWITH_K4A=ON `
          -DWITH_DEPTHAI=ON `
          -DWITH_REALSENSE2=ON `
          -DWITH_CCCORELIB=ON `
          ${{ matrix.extra_cmake_def }} `
          -DVCPKG_MANIFEST_INSTALL=OFF `
          -DVCPKG_TARGET_TRIPLET=x64-windows-release `
          -DVCPKG_INSTALLED_DIR="${{env.VCPKG_EXPORT_PATH}}/installed" `
          -DCMAKE_TOOLCHAIN_FILE=${{env.VCPKG_EXPORT_PATH}}/scripts/buildsystems/vcpkg.cmake `
          -DTorch_DIR=${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3/Lib/site-packages/torch/share/cmake/Torch

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

    - name: Info
      # Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64),
      # which need the NVIDIA driver; the GPU-less runner can't load the exe.
      if: matrix.build_name != 'windows-2022-cuda'
      working-directory: ${{github.workspace}}/build/bin
      run: |
        ./rtabmap-console --version

    - name: Build Windows Package
      shell: pwsh
      run: |
        if ("${{ github.event_name }}" -eq "pull_request") {
          cpack --config build/CPackConfig.cmake -G ZIP -B build
        } else {
          cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
        }

    - name: Rename CUDA artifacts
      if: matrix.build_name == 'windows-2022-cuda'
      shell: pwsh
      run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }

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

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

#    - name: Test
#      working-directory: ${{github.workspace}}/build
#      # Execute tests defined by the CMake configuration.  
#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
#      run: ctest -C ${{env.BUILD_TYPE}}