ci.yaml

name: CI

on:
  pull_request:
  push:
    branches:
      - main

jobs:
  ci:
    strategy:
      matrix:
        os: [ubuntu-22.04-x86, ubuntu-22.04-arm, macos-latest, macos-14]
      fail-fast: false
    runs-on: ${{ matrix.os }}
    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: apt update (Ubuntu)
        if: ${{ contains(matrix.os, 'ubuntu') }}
        run: sudo apt-get update

      - name: Set up Homebrew (MacOS)
        if: ${{ contains(matrix.os, 'macos') }}
        uses: Homebrew/actions/setup-homebrew@master

      - name: Brew update (MacOS)
        if: ${{ contains(matrix.os, 'macos') }}
        run: brew update

      - name: Fix Python Conflicts (MacOS)
        if: ${{ contains(matrix.os, 'macos') }}
        run: |
          brew unlink python@3.12 || true
          brew install python@3.12 || true
          brew link --overwrite --dry-run python@3.12 || true
          brew link --overwrite python@3.12 || true

      # Install Eigen (Cross-platform)
      - name: Install Eigen
        run: |
          if [[ "${{ matrix.os }}" == "macos-latest" || "${{ matrix.os }}" == "macos-14" ]]; then
            brew install eigen
          else
            sudo apt-get install -y libeigen3-dev
          fi

      # Install SDL2 (Cross-platform)
      - name: Install SDL2
        run: |
          if [[ "${{ matrix.os }}" == "macos-latest" || "${{ matrix.os }}" == "macos-14" ]]; then
            brew install SDL2
          else
            sudo apt-get install -y libsdl2-dev
          fi

      # Install PCL (MacOS)
      - name: Install PCL (MacOS)
        if: ${{ contains(matrix.os, 'macos') }}
        run: |
          brew install pcl

      # Install PCL (Ubuntu)
      - name: Install PCL (Ubuntu)
        if: ${{ contains(matrix.os, 'ubuntu') }}
        run: |
          sudo apt install -y libboost-all-dev
          git clone https://github.com/PointCloudLibrary/pcl.git
          cd pcl
          git checkout tags/pcl-1.14.1
          mkdir build
          cd build
          cmake -DCMAKE_BUILD_TYPE=Release ..
          sudo make -j$(nproc) install

      # Install sdl-wrapper (Cross-platform)
      - name: Install sdl-wrapper
        run: |
          git clone https://github.com/cornellev/sdl-wrapper.git
          cd sdl-wrapper
          sudo make install

      # Install libcmdapp2 (Cross-platform)
      - name: Install libcmdapp2
        run: |
          git clone https://github.com/cornellev/libcmdapp2.git
          cd libcmdapp2
          sudo make install

      # Install libconfig (Cross-platform)
      - name: Install libconfig
        run: |
          git clone https://github.com/cornellev/config
          cd config
          sudo make install

      # Install simple-test (Cross-platform)
      - name: Install simple-test
        run: |
          git clone https://github.com/cornellev/simple-test
          cd simple-test
          sudo make install

      # Build all (Cross-platform)
      - name: Build all
        run: make OPT=Release

      # Run tests (Cross-platform)
      - name: Run tests
        run: |
          make test OPT=Release
          make test_3d OPT=Release
          make test_ply OPT=Release

      # Run benchmarks (Cross-platform)
      - name: Run benchmarks
        run: make bench OPT=Release

      # Test install (Cross-platform)
      - name: Test install
        run: sudo make install