name: Build & Test

on:
  workflow_dispatch:
  pull_request:
  push:

jobs:
  default:
    name: ${{ matrix.os }}-${{ matrix.arch }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        include:
        - os: ubuntu-latest
          pybuilds: cp3{10,11,12,13}-manylinux_x86_64
          arch: x86_64
          id: linux_x86_64
        - os: ubuntu-24.04-arm
          pybuilds: cp3{10,11,12,13}-manylinux_aarch64
          arch: aarch64
          id: linux_arm64
        - os: macos-13
          pybuilds: cp3{10,11,12,13}-macosx_x86_64
          arch: x86_64
          id: macos_x86
        - os: macos-15
          pybuilds: cp3{10,11,12,13}-macosx_arm64
          arch: arm64
          id: macos_arm64

    steps:
    - uses: actions/checkout@v4
      with:
        submodules: 'recursive'

    - name: "Install Linux dependencies"
      if: runner.os == 'Linux'
      run: |
        sudo apt-get update -y -qq &&
        sudo apt-get install -y -qq \
        libboost-program-options-dev \
        libboost-serialization-dev \
        libboost-test-dev \
        libeigen3-dev \
        libflann-dev \
        libtriangle-dev \
        libyaml-cpp-dev

    - name: "Install macOS dependencies"
      if: runner.os == 'macOS'
      run: brew install boost eigen flann ode yaml-cpp

    - name: "Install Windows dependencies"
      if: runner.os == 'Windows'
      uses: lukka/run-vcpkg@v11
      id: runvcpkg
      with:
          vcpkgGitCommitId: da4b78d35084ec4e9808aa02017028da03b8d2ab
          vcpkgTriplet: 'x64-windows'
          vcpkgArguments: 'boost-dynamic-bitset boost-filesystem boost-graph boost-odeint boost-program-options boost-serialization boost-system boost-test eigen3 flann yaml-cpp'

    - name: Build & Test (Linux, macOS)
      if: runner.os != 'Windows'
      uses: ashutoshvarma/action-cmake-build@master
      with:
        build-dir: ${{ runner.workspace }}/build
        build-type: Release
        configure-options: -DOMPL_REGISTRATION=OFF -DOMPL_BUILD_DEMOS=OFF -DVAMP_PORTABLE_BUILD=ON -DCMAKE_INSTALL_PREFIX=${{ runner.workspace }}/install -DOMPL_PYTHON_INSTALL_DIR=${{ runner.workspace }}/install/python
        run-test: true
        ctest-options: --output-on-failure
        install-build: true
    - name: Test CMake target linkage to ompl::ompl
      if: runner.os != 'Windows'
      run: |
        cd tests/cmake_export
        cmake -B build -DCMAKE_INSTALL_PREFIX=${{ runner.workspace }}/install
        cmake --build build
    - name: Build & Test (Windows)
      if: runner.os == 'Windows'
      uses: ashutoshvarma/action-cmake-build@master
      with:
        build-dir: ${{ runner.workspace }}/build
        build-type: Release
        configure-options: -DOMPL_REGISTRATION=OFF -DOMPL_BUILD_DEMOS=OFF -DVAMP_PORTABLE_BUILD=ON -DMACHINE_SPEED_FACTOR=5.0 -DCMAKE_INSTALL_PREFIX=${{ runner.workspace }}/install -DOMPL_PYTHON_INSTALL_DIR=${{ runner.workspace }}/install/python -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/ompl/vcpkg/scripts/buildsystems/vcpkg.cmake -DCMAKE_GENERATOR_PLATFORM=x64
        run-test: true
        ctest-options: --output-on-failure
        install-build: true