name: Sanitizers

on: [pull_request, push]

concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
  cancel-in-progress: true

jobs:
  build:
    strategy:
      fail-fast: false
      matrix:
        include:
          - name: asan
            cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
            ctest-env: ""
            ctest-flags: "-E 'wpilibc'"
          - name: tsan
            cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
            ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
            ctest-flags: "-E 'cscore|cameraserver|wpilibc|wpilibNewCommands'"
          - name: ubsan
            cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
            ctest-env: ""
            ctest-flags: ""
    name: "${{ matrix.name }}"
    runs-on: ubuntu-22.04
    container:
      image: wpilib/roborio-cross-ubuntu:2024-22.04
      options: --privileged
    steps:
      - name: mmap rnd_bits workaround
        run: sudo sysctl -w vm.mmap_rnd_bits=28

      - name: Install Dependencies
        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14 libprotobuf-dev protobuf-compiler ninja-build

      - name: Install QuickBuffers
        if: runner.os == 'Linux'
        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf_1.3.3_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.3_amd64.deb

      - name: Run sccache-cache
        uses: mozilla-actions/sccache-action@v0.0.3

      - name: Install jinja
        run: python -m pip install jinja2

      - uses: actions/checkout@v4

      - name: configure
        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
        env:
          SCCACHE_GHA_ENABLED: "true"

      - name: build
        working-directory: build
        run: cmake --build . --parallel $(nproc)
        env:
          SCCACHE_GHA_ENABLED: "true"

      - name: test
        working-directory: build
        run: ${{ matrix.ctest-env }} ctest --output-on-failure ${{ matrix.ctest-flags }}