ci.yml

name: CI

on:
  workflow_dispatch:
    inputs:
      is_nightly:
        description: 'Is this a nightly build?'
        required: false
        default: false
        type: boolean
  pull_request:
  push:

jobs:
  build-and-test:
    name: Run on ${{ matrix.os }} with SOFA ${{ matrix.sofa_branch }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-22.04, macos-13, windows-2022]
        sofa_branch: [master]

    steps:
            
      - name: Setup SOFA and environment
        id: sofa
        uses: sofa-framework/sofa-setup-action@v5
        with:
          sofa_root: ${{ github.workspace }}/sofa
          sofa_version: ${{ matrix.sofa_branch }}
          sofa_scope: 'standard'
          sofa_with_sofapython3: 'true'

      - name: Install SoftRobots
        shell: bash
        run: |
          SoftRobots_ROOT="$GITHUB_WORKSPACE/SoftRobots"
          mkdir -p "${{ runner.temp }}/sp3_tmp/zip" "${{ runner.temp }}/sp3_tmp/binaries" "$SoftRobots_ROOT"
          url="https://github.com/SofaDefrost/SoftRobots/releases/download"
          url="${url}/release-${{ matrix.sofa_branch }}/SoftRobots_${{ matrix.sofa_branch }}_for-SOFA-${{ matrix.sofa_branch }}_${{ runner.os }}.zip"
          echo "Getting SoftRobots from $url"
          curl --output "${{ runner.temp }}/sp3_tmp/SoftRobots.zip" -L $url
          unzip -qq "${{ runner.temp }}/sp3_tmp/SoftRobots.zip" -d "${{ runner.temp }}/sp3_tmp/binaries"
          mv "${{ runner.temp }}"/sp3_tmp/binaries/SoftRobots_*/* "$SoftRobots_ROOT"
          echo "SoftRobots_ROOT=$SoftRobots_ROOT" | tee -a $GITHUB_ENV
          echo "SoftRobots_DIR=$SoftRobots_ROOT/lib/cmake/SoftRobots" | tee -a $GITHUB_ENV

      - name: Checkout source code
        uses: actions/checkout@v2
        with:
          path: ${{ env.WORKSPACE_SRC_PATH }}

      - name: Build and install
        shell: bash
        run: |
          cmake_options="-GNinja \
            -DCMAKE_BUILD_TYPE=Release \
            -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
            -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake" \
            "
          if [ -e "$(command -v ccache)" ]; then
            cmake_options="$cmake_options -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
          fi
          cmake_options="$(echo $cmake_options)" # prettify
          
          if [[ "$RUNNER_OS" == "Windows" ]]; then
            cmd //c "${{ steps.sofa.outputs.vs_vsdevcmd }} \
              && cd /d $WORKSPACE_BUILD_PATH \
              && cmake $cmake_options ../src \
              && ninja install"
          else
            cd "$WORKSPACE_BUILD_PATH"
            ccache -z
            cmake $cmake_options ../src
            ninja install
            echo ${CCACHE_BASEDIR}
            ccache -s
          fi
          
      #- name: Postinstall fixup
      #  shell: bash
      #  run: |
      #    chmod a+x $WORKSPACE_SRC_PATH/tools/postinstall_fixup_*.sh
      #    if [[ "$RUNNER_OS" == "macOS" ]]; then
      #      $WORKSPACE_SRC_PATH/tools/postinstall_fixup_macOS.sh "$WORKSPACE_INSTALL_PATH"
      #    fi

      - name: Sanitize artifact name
        id: sanitize
        # This step removes special characters from the artifact name to ensure compatibility with upload-artifact
        # Characters removed: " : < > | * ? \r \n \ /
        # Spaces are replaced with underscores
        # This sanitization prevents errors in artifact creation and retrieval
        shell: pwsh
        run: |
          $originalName = "SoftRobots.Inverse_${{ steps.sofa.outputs.run_branch }}_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${{ runner.os }}"
          $artifact_name = $originalName -replace '[":;<>|*?\r\n\\/]', '' -replace ' ', '_'
          echo "artifact_name=$artifact_name" >> $env:GITHUB_OUTPUT

      - name: Create artifact
        uses: actions/upload-artifact@v4.4.0
        with:
          name: ${{ steps.sanitize.outputs.artifact_name }}
          path: ${{ env.WORKSPACE_INSTALL_PATH }}

      - name: Install artifact
        uses: actions/download-artifact@v4.1.7
        with:
          name: ${{ steps.sanitize.outputs.artifact_name }}
          path: ${{ env.WORKSPACE_ARTIFACT_PATH }}

      - name: Set env vars for tests
        shell: bash
        run: |
          # Set env vars for tests
          if [[ "$RUNNER_OS" == "Windows" ]]; then
            echo "$(cd $WORKSPACE_ARTIFACT_PATH/lib && pwd -W)" >> $GITHUB_PATH
            echo "$(cd $WORKSPACE_ARTIFACT_PATH/bin && pwd -W)" >> $GITHUB_PATH
            echo "$(cd $SoftRobots_ROOT/bin && pwd -W)" >> $GITHUB_PATH
          elif [[ "$RUNNER_OS" == "macOS" ]]; then
            echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV
          fi
          echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV
          # Add execution right on the tests
          chmod +x $WORKSPACE_BUILD_PATH/bin/*_test${{ steps.sofa.outputs.exe }}
          
      - name: Check environment for tests
        shell: bash
        run: |
          echo '------ ls -la "$WORKSPACE_SRC_PATH" ------'
          ls -la "$WORKSPACE_SRC_PATH"
          echo '------ ls -la "$WORKSPACE_BUILD_PATH" ------'
          ls -la "$WORKSPACE_BUILD_PATH"
          echo '------ ls -la "$WORKSPACE_BUILD_PATH/bin" ------'
          ls -la "$WORKSPACE_BUILD_PATH"/bin
          echo '------ ls -la "$WORKSPACE_INSTALL_PATH" ------'
          ls -la "$WORKSPACE_INSTALL_PATH"
          echo '------ ls -la "$WORKSPACE_ARTIFACT_PATH" ------'
          ls -la "$WORKSPACE_ARTIFACT_PATH"
          echo '----------------------'
          echo "SOFA_ROOT = $SOFA_ROOT"=
          echo '----------------------'
          python -c "import sys; print('sys.version = ' + str(sys.version)); print('sys.path = ' + str(sys.path))"

      - name: Run tests
        if: always()
        shell: bash
        run: |
          cd $WORKSPACE_BUILD_PATH
          ./bin/SoftRobots.Inverse_test${{ steps.sofa.outputs.exe }}

  deploy:
    name: Deploy artifacts
    if: always() && startsWith(github.repository, 'SofaDefrost') && (startsWith(github.ref, 'refs/heads/') || startsWith(github.ref, 'refs/tags/')) # we are not on a fork and on a branch or a tag (not a PR)
    needs: [build-and-test]
    runs-on: ubuntu-latest
    continue-on-error: true
    steps:
      - name: Get artifacts
        uses: actions/download-artifact@v4.1.7
        with:
          path: artifacts

      - name: Zip artifacts and set env vars
        shell: bash
        run: |
          cd $GITHUB_WORKSPACE/artifacts
          for artifact in *; do
            zip $artifact.zip -r $artifact/*
            md5sum $artifact.zip > $artifact.zip.md5
          done
          PROJECT_NAME="${GITHUB_REPOSITORY#*/}"
          echo "PROJECT_NAME=$PROJECT_NAME" | tee -a $GITHUB_ENV
          
          RELEASE_NAME="${{ github.ref_name }}"
          RELEASE_TAGNAME="release-${{ github.ref_name }}"
          if [[ "${{ github.event.inputs.is_nightly }}" == "true" ]]; then
              RELEASE_NAME="$RELEASE_NAME-nightly"
              RELEASE_TAGNAME="$RELEASE_TAGNAME-nightly"
          fi
          RELEASE_DATE="$(date +'%Y-%m-%d (at %T)')"
          echo "RELEASE_NAME=$RELEASE_NAME" | tee -a $GITHUB_ENV
          echo "RELEASE_TAGNAME=$RELEASE_TAGNAME" | tee -a $GITHUB_ENV
          echo "RELEASE_DATE=$RELEASE_DATE" | tee -a $GITHUB_ENV

      - name: Delete old release
        uses: dev-drprasad/delete-tag-and-release@v0.2.1
        with:
          tag_name: ${{ env.RELEASE_TAGNAME }}
          delete_release: true
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

      - name: Create new release
        if: success() || failure()
        uses: softprops/action-gh-release@v1
        with:
          name: ${{ env.RELEASE_NAME }}
          tag_name: ${{ env.RELEASE_TAGNAME }}
          fail_on_unmatched_files: false
          target_commitish: ${{ github.sha }}
          body: |
            Last updated on ${{ env.RELEASE_DATE }}
          files: |
            artifacts/${{ env.PROJECT_NAME }}_*_Linux.zip
            artifacts/${{ env.PROJECT_NAME }}_*_Windows.zip
            artifacts/${{ env.PROJECT_NAME }}_*_macOS.zip