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-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon, macos-tahoe-intel-cv5, macos-tahoe-apple-silicon-cv5]
        include:
        # macos-sequoia-intel temporarily disabled. Had some g2o optimizer issues.
        #- build_name: macos-sequoia-intel
        #  os: macos-15-intel
        #  cv: opencv@4
        - build_name: macos-sequoia-apple-silicon
          os: macos-15
          cv: opencv@4
        - build_name: macos-tahoe-intel
          os: macos-26-intel
          cv: opencv@4
        - build_name: macos-tahoe-apple-silicon
          os: macos-26
          cv: opencv@4
        - build_name: macos-tahoe-intel-cv5
          os: macos-26-intel
          cv: opencv
        - build_name: macos-tahoe-apple-silicon-cv5
          os: macos-26
          cv: opencv
    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 octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver ${{ matrix.cv }}

    - name: Install Source Dependencies
      # Build (and per-dependency cache) the source-only deps not available from
      # Homebrew, then install them into /usr/local. See the composite action.
      uses: ./.github/actions/install-macos-source-deps
      with:
        os: ${{ matrix.os }}
        build_type: ${{ env.BUILD_TYPE }}

    - name: Configure CMake
      run: |
        # Apple clang has no built-in OpenMP; point find_package(OpenMP) at
        # Homebrew's keg-only libomp so PCL/g2o/rtabmap enable OpenMP instead of
        # repeatedly logging "Could NOT find OpenMP".
        LIBOMP=$(brew --prefix libomp)
        cmake -B ${{github.workspace}}/build \
          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
          -DBUILD_TESTING=ON \
          -DBUILD_AS_BUNDLE=ON \
          -DWITH_ORBBEC_SDK=ON \
          -DWITH_DEPTHAI=ON \
          -DWITH_CERES=ON \
          -DOpenMP_C_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
          -DOpenMP_C_LIB_NAMES=omp \
          -DOpenMP_CXX_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
          -DOpenMP_CXX_LIB_NAMES=omp \
          -DOpenMP_omp_LIBRARY="$LIBOMP/lib/libomp.dylib"

    - 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 }}-nonsigned-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
      # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
      # loading numpy / other site-packages from the user's site that were
      # compiled against a different ABI than the build-time Python.
      env:
        PYTHONNOUSERSITE: 1
      run: |
        ctest -C ${{env.BUILD_TYPE}} --output-on-failure

    # A ctest SEGFAULT is reported as just "SEGFAULT" with no backtrace, which
    # makes a crash inside a long integration test invisible -- the log simply
    # stops mid-test. macOS's ReportCrash writes a symbolized .ips report for
    # every crashed process, so surface any that appeared during this job.
    - name: Dump macOS crash reports on failure
      if: failure()
      run: |
        # ReportCrash can lag the process death by a few seconds.
        sleep 20
        found=0
        for d in "$HOME/Library/Logs/DiagnosticReports" /Library/Logs/DiagnosticReports; do
          [ -d "$d" ] || continue
          while IFS= read -r f; do
            found=1
            echo "::group::$f"
            cat "$f"
            echo "::endgroup::"
          done < <(find "$d" -type f \( -name '*.ips' -o -name '*.crash' \) -mtime -1 2>/dev/null | sort)
        done
        if [ "$found" = 0 ]; then
          echo "No crash reports found -- the job may have failed without a crash."
        fi

    - name: Upload ctest log on failure
      if: failure()
      uses: actions/upload-artifact@v4
      with:
        name: ctest-log-${{ matrix.build_name }}
        path: build/Testing/Temporary/LastTest.log
        if-no-files-found: warn
        retention-days: 7