build-special.yml

name: Special Cases CI

on: [pull_request]

# Every time you make a push to your PR, it cancel immediately the previous checks, 
# and start a new one. The other runner will be available more quickly to your PR. 
concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  build:
    name: ${{ matrix.name }} ${{ matrix.build_type }}
    runs-on: ${{ matrix.os }}

    env:
      CTEST_OUTPUT_ON_FAILURE: ON
      CTEST_PARALLEL_LEVEL: 2
      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
      GTSAM_BUILD_UNSTABLE: ON

    strategy:
      fail-fast: false

      matrix:
        # Github Actions requires a single row to be added to the build matrix.
        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
        name:
          [
            ubuntu-clang-deprecated,
            ubuntu-clang-quaternions,
            ubuntu-clang-tbb,
            ubuntu-clang-cayleymap,
            ubuntu-clang-system-libs,
            ubuntu-no-boost,
            ubuntu-no-unstable,
          ]

        build_type: [Debug, Release]

        include:
          - name: ubuntu-clang-deprecated
            os: ubuntu-22.04
            compiler: clang
            version: "14"
            flag: deprecated

          - name: ubuntu-clang-quaternions
            os: ubuntu-22.04
            compiler: clang
            version: "14"
            flag: quaternions

          - name: ubuntu-clang-tbb
            os: ubuntu-22.04
            compiler: clang
            version: "14"
            flag: tbb

          - name: ubuntu-clang-cayleymap
            os: ubuntu-22.04
            compiler: clang
            version: "14"
            flag: cayley

          - name: ubuntu-clang-system-libs
            os: ubuntu-22.04
            compiler: clang
            version: "14"
            flag: system

          - name: ubuntu-no-boost
            os: ubuntu-22.04
            compiler: clang
            version: "14"
            flag: no_boost

          - name: ubuntu-no-unstable
            os: ubuntu-22.04
            compiler: clang
            version: "14"
            flag: no_unstable

    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Install (Linux)
        if: runner.os == 'Linux'
        run: |
          sudo apt-get -y update
          sudo apt-get -y install software-properties-common

          # LLVM (clang) 9/14 is not in 22.04 (jammy)'s repositories so we add the official LLVM repository.
          if [ "${{ matrix.compiler }}" = "clang" ]; then
            # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool
            # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure
            # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository
            # This key is not in the keystore by default for Ubuntu so we need to add it.
            LLVM_KEY=15CF4D18AF4F7421
            gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY
            gpg -a --export $LLVM_KEY | sudo apt-key add -
            sudo add-apt-repository "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main"
          fi

          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev ninja-build

          if [ "${{ matrix.compiler }}" = "gcc" ]; then
            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
            echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
            echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
          else
            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
            echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
            echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
          fi

      - name: Install Boost
        if: runner.os == 'Linux'
        run: |
          sudo apt-get -y install libboost-all-dev

      - name: Install (macOS)
        if: runner.os == 'macOS'
        run: |
          brew install cmake ninja boost
          sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
          echo "CC=clang" >> $GITHUB_ENV
          echo "CXX=clang++" >> $GITHUB_ENV

      - name: Set Allow Deprecated Flag
        if: matrix.flag == 'deprecated'
        run: |
          echo "GTSAM_ALLOW_DEPRECATED_SINCE_V43=ON" >> $GITHUB_ENV
          echo "Allow deprecated since version 4.3"

      - name: Set Use Quaternions Flag
        if: matrix.flag == 'quaternions'
        run: |
          echo "GTSAM_USE_QUATERNIONS=ON" >> $GITHUB_ENV
          echo "Use Quaternions for rotations"

      - name: Set GTSAM_WITH_TBB Flag
        if: matrix.flag == 'tbb'
        run: |
          echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
          echo "GTSAM Uses TBB"

      - name: Use Cayley Transform for Rot3
        if: matrix.flag == 'cayley'
        run: |
          echo "GTSAM_POSE3_EXPMAP=OFF" >> $GITHUB_ENV
          echo "GTSAM_ROT3_EXPMAP=OFF" >> $GITHUB_ENV
          echo "GTSAM Uses Cayley map for Rot3"

      - name: Use system versions of 3rd party libraries
        if: matrix.flag == 'system'
        run: |
          sudo apt-get install libeigen3-dev
          echo "GTSAM_USE_SYSTEM_EIGEN=ON" >> $GITHUB_ENV
          # TODO(dellaert): This does not work yet?
          # sudo apt-get install metis
          # echo "GTSAM_USE_SYSTEM_METIS=ON" >> $GITHUB_ENV

      - name: Turn off boost
        if: matrix.flag == 'no_boost'
        run: |
          echo "GTSAM_ENABLE_BOOST_SERIALIZATION=OFF" >> $GITHUB_ENV
          echo "GTSAM_USE_BOOST_FEATURES=OFF" >> $GITHUB_ENV
          echo "GTSAM will not use BOOST"

      - name: Turn off unstable
        if: matrix.flag == 'no_unstable'
        run: |
          echo "GTSAM_BUILD_UNSTABLE=OFF" >> $GITHUB_ENV
          echo "GTSAM 'unstable' will not be built."

      - name: Set Swap Space
        if: runner.os == 'Linux'
        uses: pierotofy/set-swap-space@master
        with:
          swap-size-gb: 12


      - name: Build & Test
        run: |
          bash .github/scripts/unix.sh -t