ci.yml

name: CI

on:
  push:
    branches: ["**"]
  pull_request:
    branches: ["**"]
  release:
    types: [published]
  schedule:
    # Run at 02:00 UTC every Saturday
    # https://docs.github.com/en/actions/reference/events-that-trigger-workflows#scheduled-events
    - cron: "0 2 * * SAT"

env:
  VCPKG_ROOT: C:\dartsim\vcpkg
  VCPKG_VERSION: "2023.12.12"

jobs:
  setup_and_build_base:
    runs-on: windows-2022
    steps:
      - name: Checkout Repo
        uses: actions/checkout@v3
      - name: Install vcpkg
        shell: cmd
        run: |
          git clone -q https://github.com/microsoft/vcpkg.git %VCPKG_ROOT%
          cd /d %VCPKG_ROOT%
          git checkout %VCPKG_VERSION%
          %VCPKG_ROOT%\bootstrap-vcpkg.bat
      - name: Upload Artifacts
        uses: actions/upload-artifact@v3
        with:
          name: base
          path: C:\dartsim\vcpkg

  build_deps_and_upload:
    needs: setup_and_build_base
    runs-on: windows-2022
    strategy:
      fail-fast: false
      matrix:
        zip-name: ["vcpkg-dartsim-deps-v7.0"]
        deps:
          [
            "assimp ccd eigen3 entt fcl fmt spdlog bullet3 coin-or-ipopt freeglut glfw3 nlopt ode opencl opengl osg pagmo2 pybind11 tinyxml2 urdfdom yaml-cpp",
          ]
        include:
          - zip-name: "vcpkg-dartsim-deps-v6.13"
            deps: "assimp ccd eigen3 fcl fmt spdlog bullet3 coin-or-ipopt flann freeglut glfw3 nlopt ode opengl osg pagmo2 pybind11 tinyxml2 urdfdom"

          - zip-name: "vcpkg-dartsim-deps-min-v7.0"
            deps: "assimp ccd eigen3 entt fcl fmt spdlog"

          - zip-name: "vcpkg-dartsim-deps-cuda-v7.0"
            deps: "assimp ccd eigen3 entt fcl fmt spdlog bullet3 coin-or-ipopt cuda freeglut glfw3 nlopt ode opencl opengl osg pagmo2 pybind11 tinyxml2 urdfdom yaml-cpp"

          # - zip-name: "vcpkg-dartsim-deps-v8.0"
          #   deps: "eigen3 fmt pkgconf assimp bullet3 ccd coin-or-ipopt fcl glew imgui nlopt ode opencl opengl osg pybind11 spdlog tbb tinyxml2 urdfdom"

          # - zip-name: "vcpkg-dartsim-deps-cuda-v8.0"
          #   deps: "eigen3 fmt pkgconf assimp bullet3 ccd coin-or-ipopt cuda fcl glew imgui nlopt ode opencl opengl osg pybind11 spdlog tbb tinyxml2 urdfdom"

    steps:
      - name: Download Base Artifacts
        uses: actions/download-artifact@v3
        with:
          name: base
          path: ${{ env.VCPKG_ROOT }}

      # Install CUDA Toolkit conditionally
      - uses: Jimver/cuda-toolkit@v0.2.11
        if: contains(matrix.deps, 'cuda')
        id: cuda-toolkit
        with:
          cuda: "12.1.0"

      # Install DART dependencies
      - name: Install vcpkg Packages
        env:
          VCPKG_PACKAGES: ${{ matrix.deps }}
        shell: cmd
        run: |
          %VCPKG_ROOT%\vcpkg.exe install --recurse --triplet x64-windows %VCPKG_PACKAGES%

      # Remove temporary files
      # https://learn.microsoft.com/en-us/vcpkg/about/faq#how-can-i-remove-temporary-files
      - name: Cleanup vcpkg Temporary Files
        shell: cmd
        run: |
          RMDIR /Q/S %VCPKG_ROOT%\buildtrees
          RMDIR /Q/S %VCPKG_ROOT%\packages
          RMDIR /Q/S %VCPKG_ROOT%\downloads

      - name: Prepare Release File
        shell: cmd
        run: |
          7z a -mx9 ${{ matrix.zip-name }}.zip %VCPKG_ROOT%
          @echo off
          setlocal
          set file="${{ matrix.zip-name }}.zip"
          set maxbytesize=2000000000

          FOR /F "usebackq" %%A IN ('%file%') DO set size=%%~zA

          if %size% GTR %maxbytesize% (
              echo File is greater than %maxbytesize% bytes
              exit /b 1
          )

      - name: Upload Release Asset
        if: github.event_name == 'release'
        uses: actions/upload-release-asset@v1
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        with:
          upload_url: ${{ github.event.release.upload_url }}
          asset_path: ./${{ matrix.zip-name }}.zip
          asset_name: ${{ matrix.zip-name }}.zip
          asset_content_type: application/zip