name: OpenSLAM gmapping cross-platform RoboStack build

on:
  workflow_dispatch:
  pull_request:
  push:
    branches:
      - master
      - "[kmn]*-devel"

jobs:
  run_openslam_gmapping_compilation:
    runs-on: ${{ matrix.os }}
    name: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, macos-latest, windows-latest]

    steps:
    - uses: actions/checkout@v2

    - name: Set up Build Dependencies
      uses: mamba-org/provision-with-micromamba@main
      with:
        environment-file: .github/ci_cross_platform_env.yml
        micromamba-version: latest

    - name: Set up OpenSLAM gmapping Dependencies on Unix
      if: runner.os == 'Linux' || runner.os == 'macOS'
      shell: bash -l -eo pipefail {0}
      run: |
        micromamba activate test
        export PATH=$HOME/micromamba-bin:$PATH
        rosdep init
        rosdep update
        rosdep install --from-paths . --ignore-src -r -y

    - name: Build OpenSLAM gmapping on Unix
      if: runner.os == 'Linux' || runner.os == 'macOS'
      shell: bash -l -eo pipefail {0}
      run: |
        export CTEST_OUTPUT_ON_FAILURE=1

        mkdir build
        cd build

        cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
                 -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
                 -DCMAKE_BUILD_TYPE=Release \
                 -DCATKIN_SKIP_TESTING=OFF \
                 -G "Ninja"

        ninja

    - name: Set up OpenSLAM gmapping on Windows
      if: runner.os == 'Windows'
      shell: cmd
      run: |
        echo "Activate environment, and use rosdep to install dependencies"
        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test

        rosdep init
        rosdep update
        rosdep install --from-paths . --ignore-src -r -y

    - name: Build OpenSLAM gmapping on Windows
      if: runner.os == 'Windows'
      shell: cmd
      run: |

        echo "Remove unnecessary / colliding things from PATH"
        set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
        set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
        set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
        set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
        set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
        set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
        set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
        set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
        set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
        set "PATH=%PATH:C:\Strawberry\c\bin;=%"
        set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
        set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
        set "PATH=%PATH:c:\tools\php;=%"
        set "PATH=%PATH:ostedtoolcache=%"

        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test

        mkdir build
        cd build
        SET "CTEST_OUTPUT_ON_FAILURE=1"

        cmake .. -DCMAKE_PREFIX_PATH="%CONDA_PREFIX%\Library" ^
                 -DCMAKE_INSTALL_PREFIX="%CONDA_PREFIX%\Library" ^
                 -DCMAKE_BUILD_TYPE=Release ^
                 -DCATKIN_SKIP_TESTING=OFF ^
                 -DBoost_USE_STATIC_LIBS=OFF ^
                 -G "Ninja"

        ninja
