name: CMake-Linux

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 }}
    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:
        - build_name: ubuntu-22.04
          os: ubuntu-22.04
          extra_deps: "libunwind-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
        - build_name: ubuntu-24.04
          os: ubuntu-24.04
          extra_deps: "libg2o-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
        - build_name: ubuntu-24.04-with-opengv
          os: ubuntu-24.04
          extra_deps: "libg2o-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
        - build_name: ubuntu-26.04
          os: ubuntu-26.04
          extra_deps: "libg2o-dev libceres-dev"
          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=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 ${{ matrix.extra_deps }}

    - 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: |
        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -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: |
        ./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: |
        ctest -C ${{env.BUILD_TYPE}} --output-on-failure