name: CMake

on: [pull_request, push]

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

env:
  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"

jobs:
  build:
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-24.04
            name: Linux
            container: wpilib/systemcore-cross-ubuntu:2027-24.04
            flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
          - os: macOS-15
            name: macOS
            container: ""
            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
          - os: windows-2022
            name: Windows
            container: ""
            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$Env:RUNNER_WORKSPACE/vcpkg/scripts/buildsystems/vcpkg.cmake" -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release'

    name: "Build - ${{ matrix.name }}"
    runs-on: ${{ matrix.os }}
    container: ${{ matrix.container }}
    steps:
      - name: Install dependencies (Linux)
        if: runner.os == 'Linux'
        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java ninja-build

      - name: Setup avahi-daemon
        if: runner.os == 'Linux'
        run: |
          sudo service dbus start
          sudo avahi-daemon -D

      - name: Install dependencies (macOS)
        if: runner.os == 'macOS'
        run: brew install opencv ninja

      - uses: ilammy/msvc-dev-cmd@v1.13.0
        if: runner.os == 'Windows'

      - name: Install CMake (Windows only)
        if: runner.os == 'Windows'
        uses: lukka/get-cmake@v3.29.3

      - name: Install sccache
        uses: mozilla-actions/sccache-action@v0.0.9

      - uses: actions/checkout@v6

      - name: Run vcpkg (Windows only)
        if: runner.os == 'Windows'
        uses: lukka/run-vcpkg@v11.5
        with:
          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
          vcpkgGitCommitId: 74e6536215718009aae747d86d84b78376bf9e09 # HEAD on 2025-10-17

      - name: configure
        run: cmake ${{ matrix.flags }}
        env:
          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

      - name: build
        run: cmake --build build-cmake --parallel $(nproc)
        env:
          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

      - name: test
        if: runner.os != 'Windows'
        working-directory: build-cmake
        run: ctest --output-on-failure

      - name: test (windows)
        if: runner.os == 'Windows'
        working-directory: build-cmake
        # UnitTest_test segfaults on exit occasionally
        run: ctest --output-on-failure -E 'UnitTest'