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: wpilib/roborio-cross-ubuntu:2023-22.04
    steps:
      - uses: actions/checkout@v3

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

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

      - name: configure
        run: mkdir build && cd build && cmake -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 ${{ matrix.cmake-flags }} ..

      - name: build
        working-directory: build
        run: cmake --build . --parallel $(nproc)

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