rtabmap/.github/workflows/cmake-windows.yml

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: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=OFF'
        - build_name: windows-2022-cuda
          os: windows-2022
          extra_deps: ""
          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=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 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: |
        cmake `
          -B ${{github.workspace}}/build `
          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
          ${{ matrix.extra_cmake_def }} `
          -DBUILD_TESTING=ON `
          -DVCPKG_MANIFEST_INSTALL=OFF `
          -DVCPKG_TARGET_TRIPLET=x64-windows-release `
          -DVCPKG_INSTALLED_DIR="${{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}} --target ALL_BUILD

    - name: Test
      working-directory: ${{github.workspace}}/build
      # PYTHONHOME points the embedded interpreter at vcpkg's bundled
      # Python install (where Lib/, DLLs/ live). Without it Python emits
      # "Could not find platform independent libraries <prefix>" at init
      # and runs without a stdlib, breaking every numpy import.
      # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
      # loading numpy / other site-packages from %APPDATA%\Python that
      # were compiled against a different ABI than the build-time Python
      # (numpy 1.x/2.x mismatch crashes in test_pydetector /
      # test_pydescriptor / test_pymatcher).
      env:
        PYTHONHOME: ${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3
        PYTHONNOUSERSITE: 1
      run: |
        # The Windows CUDA runner ships a CUDA driver older than the runtime
        # OpenCV/cv::cuda was built against. Lazy CUDA-init on first cv::cuda
        # symbol call stalls some unit tests (test_util3d_features,
        # test_localgrid) for >300s; which test hangs first is timing-dependent.
        # Hide the GPU so the runtime short-circuits before any blocking call.
        # Note: '$env:CUDA_VISIBLE_DEVICES = ""' on Windows *deletes* the
        # variable (Win32 SetEnvironmentVariable treats empty as remove), so
        # use "-1" — CUDA's documented sentinel for "no device visible".
        if ('${{ matrix.build_name }}' -eq 'windows-2022-cuda') {
          $env:CUDA_VISIBLE_DEVICES = "-1"
        }
        ctest -C ${{env.BUILD_TYPE}} --output-on-failure --timeout 300
        ctest -C ${{env.BUILD_TYPE}} --output-on-failure --timeout 300 --rerun-failed

    - 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: Info
      working-directory: ${{github.workspace}}/build/bin
      run: |
        ./rtabmap-console --version

    - 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 }}