testpr.yml

on:
  pull_request:
  workflow_dispatch:

env:
  ROS_VERSION: 2
  PYTHONIOENCODING: utf-8
  # Change to 'true' to enable the cache upload as artifacts
  SAVE_CACHE_AS_ARTIFACT: 'true'
  # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging
  IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false'

jobs:
  build:
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-latest
            platform: linux-64
            folder_cache: 'output/linux-64'
          - os: ubuntu-24.04-arm
            platform: linux-aarch64
            folder_cache: 'output/linux-aarch64'
          - os: macos-15-intel
            platform: osx-64
            folder_cache: 'output/osx-64'
          - os: macos-15
            platform: osx-arm64
            folder_cache: 'output/osx-arm64'
          - os: windows-2022
            platform: win-64
            folder_cache: 'C:/bld/win-64'

    runs-on: ${{ matrix.os }}

    steps:
    - uses: actions/checkout@v6
      with:
        persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token
        fetch-depth: 0 # otherwise, you will failed to push refs to dest repo

    - uses: prefix-dev/setup-pixi@v0.9.4
      with:
        frozen: true

    - name: Long paths workarounds for win-64
      shell: bash -l {0}
      if: matrix.platform == 'win-64'
      run: |
        # Workaround for problem related to long paths
        echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV
        mkdir /c/bld

    # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816
    - name: Clean up PATH
      if: contains(matrix.os, 'windows')
      uses: egor-tensin/cleanup-path@v5
      with:
        # cygpath in C:\Program Files\Git\usr\bin is used by install micromamba
        # git in C:\Program Files\Git\bin is used by pip install git+
        dirs: 'C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\mingw64\bin'

    # For some reason, the Strawberry perl's pkg-config is found
    # instead of the conda's one, so let's delete the /c/Strawberry directory
    # Furthermore, we also need to remove an older SDK that is used and can result in compilation problems
    - name: Debug pkg-config problem
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        rm -rf /c/Strawberry
        rm -rf "/c/Program Files (x86)/Windows Kits/10/Include/10.0.17763.0/"

    - name: Generate recipes
      shell: bash -l {0}
      run: |
        mkdir -p recipes
        pixi run -v vinca --platform ${{ matrix.platform }} -m -n

    - name: Check patches
      shell: bash -l {0}
      run: |
        pixi run check-patches

    - name: Restore build cache
      id: cache-restore
      uses: actions/cache/restore@v5
      with:
        path: |
          ${{ matrix.folder_cache }}
        key: ${{ runner.os }}-${{ matrix.platform }}-pr-${{ github.event.pull_request.number }}
        # allow a later run to pick up a cache that has an extra suffix
        restore-keys: |
          ${{ runner.os }}-${{ matrix.platform }}-pr-${{ github.event.pull_request.number }}-

    - name: Optional force full rebuild
      if: ${{ env.IGNORE_CACHE_AND_DO_FULL_REBUILD == 'true' }}
      shell: bash -l {0}
      run: |
        rm -rf ${{ matrix.folder_cache }}/*

    - name: Delete specific outdated cache entries
      shell: bash -l {0}
      run: |
        # rm -rf ${{ matrix.folder_cache }}/ros-rolling-moveit-ros-perception* 2>/dev/null || true
        mkdir -p ${{ matrix.folder_cache }}
        pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force

    - name: See packages restored by cache
      shell: bash -l {0}
      run: |
        ls ${{ matrix.folder_cache }} || true

    - name: Build recipes
      shell: bash -l {0}
      run: |
        pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-rolling --skip-existing

    - name: See packages that will be saved in cache
      shell: bash -l {0}
      if: always()
      run: |
        ls ${{ matrix.folder_cache }} || true

    - name: Save build cache
      uses: actions/cache/save@v5
      if: always()
      with:
        path: |
          ${{ matrix.folder_cache }}
        key: ${{ runner.os }}-${{ matrix.platform }}-pr-${{ github.event.pull_request.number }}-${{ github.run_id }}-${{ github.run_attempt }}

    - name: Generate GitHub Actions workflows to catch post-PR problems
      shell: bash -l {0}
      run: |
        pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes

    - name: Upload build cache as artifact
      if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' }}
      uses: actions/upload-artifact@v6
      with:
        name: cache-${{ matrix.platform }}-${{ github.run_id }}
        path: ${{ matrix.folder_cache }}
        retention-days: 7