windows-conda.yml

name: CI - Windows via Conda
on:
  push:
    paths-ignore:
      - doc/**
      - .gitlab-ci.yml
      - .gitignore
      - '*.md'
      - CITATION.*
      - COPYING.LESSER
      - colcon.pkg
      - .pre-commit-config.yaml
  pull_request:
    paths-ignore:
      - doc/**
      - .gitlab-ci.yml
      - .gitignore
      - '*.md'
      - CITATION.*
      - COPYING.LESSER
      - colcon.pkg
      - .pre-commit-config.yaml
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:
    name: ${{ matrix.os }} - ${{ matrix.compiler }} with Conda
    runs-on: ${{ matrix.os }}
    env:
      CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
      CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
      CCACHE_COMPRESS: true
      CCACHE_COMPRESSLEVEL: 5

    strategy:
      fail-fast: false
      matrix:
        os: [windows-2019]
        compiler: [cl, clang-cl]

    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive

      - uses: actions/cache@v4
        with:
          path: .ccache
          save-always: true
          key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }}
          restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-

      - uses: conda-incubator/setup-miniconda@v3
        with:
          activate-environment: pinocchio
          auto-update-conda: true
          environment-file: .github/workflows/conda/environment_windows.yml
          python-version: '3.10'
          auto-activate-base: false

      - name: Get Compilation Flags
        id: get_labels
        uses: actions/github-script@v7
        with:
          script: |
            const script = require('./.github/workflows/scripts/get_label.js');
            await script({github, context, core})
          result-encoding: string

      - name: Build Pinocchio
        shell: cmd /C CALL {0}
        run: |
          :: Set compiler to use.
          :: This must be done here and not in env since
          :: cxx-compiler activation script set this variable
          :: and is called before.
          set CC=${{ matrix.compiler }}.exe
          set CXX=${{ matrix.compiler }}.exe
          echo Compiler set to: %CC%

          call conda list

          :: Create build directory
          mkdir build
          pushd build

          :: Configure (Ninja use CC and CXX to determine the compiler)
          cmake ^
            -G "Ninja" ^
            -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
            -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
            -DCMAKE_BUILD_TYPE=Release ^
            ${{ steps.get_labels.outputs.cmakeFlags }} ^
            ..

          :: Build
          cmake --build . -j2
          if errorlevel 1 exit 1

          :: Testing
          ctest --output-on-failure
          if errorlevel 1 exit 1

          :: Install
          cmake --install .

          :: Test Python import
          cd ..
          python -c "import pinocchio"
          if errorlevel 1 exit 1

  check:
    if: always()
    name: check-windows-conda

    needs:
      - build

    runs-on: Ubuntu-latest

    steps:
      - name: Decide whether the needed jobs succeeded or failed
        uses: re-actors/alls-green@release/v1
        with:
          jobs: ${{ toJSON(needs) }}