name: C++ CI Workflow with conda-forge dependencies

on:
  push:
    branches:
    - gazebo11
  pull_request:
  schedule:
  # * is a special character in YAML so you have to quote this string
  # Execute a "nightly" build at 2 AM UTC
  - cron:  '0 2 * * *'

# Every time you make a push to your PR, it cancel immediately the previous checks, 
# and start a new one. The other runner will be available more quickly to your PR. 
concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Release]
        os: [ubuntu-latest, windows-2019, macos-latest]
      fail-fast: false

    steps:
    - uses: actions/checkout@v2

    - uses: conda-incubator/setup-miniconda@v2
      with:
        miniforge-variant: Mambaforge
        miniforge-version: latest

    - name: Dependencies
      shell: bash -l {0}
      run: |
        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
        conda config --remove channels defaults
        # Compilation related dependencies
        mamba install cmake compilers make ninja pkg-config
        # Actual dependencies
        mamba install libprotobuf==4.24.* libsdformat libignition-cmake2 libignition-math6 libignition-transport8 libignition-common3 libignition-fuel-tools4 qt-main ogre=1.10 freeimage curl tbb-devel qwt tinyxml2 libccd-double boost-cpp libcurl tinyxml bzip2 zlib ffmpeg graphviz libgdal libusb bullet-cpp simbody hdf5 openal-soft glib gts dartsim

    - name: Linux-only Dependencies [Linux]
      if: contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        # See https://github.com/robotology/robotology-superbuild/issues/477
        mamba install expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 libuuid

    - name: Unix-only Dependencies [Linux&macOS]
      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
      shell: bash -l {0}
      run: |
        mamba install libtar

    - name: Windows-only Dependencies [Windows]
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        # Compilation related dependencies
        mamba install vs2019_win-64 dlfcn-win32 tiny-process-library

    - name: Configure [Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        mkdir -p build
        cd build
        cmake -GNinja -DBUILD_TESTING:BOOL=OFF -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..

    - name: Build [Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

#    - name: Test [Linux&macOS]
#      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
#      shell: bash -l {0}
#      run: |
#        cd build
#        ctest --output-on-failure -C ${{ matrix.build_type }}

    - name: Configure [Windows]
      if: contains(matrix.os, 'windows')
      shell: cmd /C call {0}
      run: |
        mkdir -p build
        cd build
        cmake -GNinja -DBUILD_TESTING:BOOL=OFF -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..

    - name: Build [Windows]
      if: contains(matrix.os, 'windows')
      shell: cmd /C call {0}
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }} --parallel 2

#    - name: Test [Windows]
#      if: contains(matrix.os, 'windows')
#      shell: cmd /C call {0}
#      run: |
#        cd build
#        ctest --output-on-failure -C ${{ matrix.build_type }}
