name: CMake

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

env:
  BUILD_TYPE: Release

jobs:
  build:
    name: ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    concurrency:
      group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.os }}
      cancel-in-progress: true
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-24.04, ubuntu-22.04]
        include:
        - os: ubuntu-22.04
          extra_deps: "libunwind-dev libceres-dev"
          extra_cmake_def: ""
        - os: ubuntu-24.04
          extra_deps: "libg2o-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON"

    steps:    
    - name: Install 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 ${{ matrix.extra_deps }}

    - uses: actions/checkout@v4

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