github-opengjk-examples.yml

name: Run all demos
run-name: ${{ github.actor }} is running
on:
  push:
  schedule:
    - cron: '0 0 1,15 * *'
jobs:
  C_GCC:
    runs-on: ubuntu-latest
    container: mmontanari/devenv:buildenv-fedora
    steps:
      - name: Check out repository code
        uses: actions/checkout@v3
      - run: cmake -E make_directory build
      - run: cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release ..
      - run: cmake --build build
      - run: cmake -E chdir build/examples/c/ ./example_lib_opengjk_ce

  C_msvs:
    runs-on: windows-latest
    steps:
      - name: Check out repository code
        uses: actions/checkout@v3
      - name: Print env
        run: |
          echo github.event.action: ${{ github.event.action }}
          echo github.event_name: ${{ github.event_name }}
      - name: Install dependencies on windows
        run: |
          choco install ninja cmake
          ninja --version
          cmake --version
      - run: cmake -E make_directory build
      - run: cmake -E chdir build cmake ..
      - run: cmake --build build
      - run: cmake -E copy build/examples/c/Debug/example_lib_opengjk_ce.exe build/examples/c
      - run: cmake -E chdir build/examples/c/ ./example_lib_opengjk_ce.exe

  Cython:
    runs-on: ubuntu-latest
    container: mmontanari/devenv:buildenv-ubuntu
    steps:
      - name: Check out repository code
        uses: actions/checkout@v3
      - run: apt-get update -y && apt-get install python3-setuptools python3-pip -y
      - run: pip3 install numpy pytest scipy Cython
      - run: cd examples/cython/ && python3 setup.py build_ext --inplace && python3 pygjk_trial.py
      - run: cd examples/cython/ && pytest test.py

  PythonCTypes:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        python_version: ["3.9", "3.10", "3.11", "3.12"]
    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Use Python ${{matrix.python_version}}
        uses: actions/setup-python@v4
        with:
          python-version: ${{matrix.python_version}}

      - name: Get dependencies
        run: |
          python -m pip install --upgrade pip

      - name: CMake config
        run: cmake -B ${{github.workspace}}/build
        env:
          BUILD_CTYPES: 1
          CMAKE_BUILD_TYPE: Release

      - name: CMake build
        working-directory: ${{github.workspace}}/build
        run: make
        
      - name: Debug library symbols
        run: |
          echo "Checking library symbols..."
          nm -D ${{github.workspace}}/build/libopengjk_ce.so
          echo "Checking library dependencies..."
          ldd ${{github.workspace}}/build/libopengjk_ce.so

      - name: Copy library to module directory
        run: |
          # Create the destination directory if it doesn't exist
          mkdir -p ${{github.workspace}}/examples/python_ctypes/src/pyopengjk/
          # Copy the library to the module directory
          cp ${{github.workspace}}/build/libopengjk_ce.so ${{github.workspace}}/examples/python_ctypes/src/pyopengjk/

      - name: Python build
        working-directory: ${{github.workspace}}/examples/python_ctypes/
        run: pip install -e .[test]

      - name: Python test
        working-directory: ${{github.workspace}}/examples/python_ctypes/
        run: pytest -vv

  CSharp:
    runs-on: ubuntu-latest
    container: mono:latest
    steps:
      - name: Check out repository code
        uses: actions/checkout@v3
      - run: apt-get update && apt-get install gcc cmake -y
      - run: cmake -E make_directory build
      # Using single precision
      - run: cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MONO=ON -DSINGLE_PRECISION=ON ..
      - run: cmake --build build --target opengjk_ce
      - run: cmake -E chdir build make install
      - run: cmake -E copy build/*opengjk_ce* examples/cs/
      - run: cd examples/cs/ && mcs -out:main.exe main.cs && mono main.exe

  GO:
    runs-on: ubuntu-latest
    container: mmontanari/devenv:buildenv-fedora
    steps:
      - uses: actions/checkout@v3
      - name: Set up Go
        uses: actions/setup-go@v3
        with:
          go-version: 1.15
      - run: cd examples/go/openGJK && go build && go test -v

  Octave:
    runs-on: ubuntu-latest
    container: gnuoctave/octave:7.3.0
    steps:
      - name: Check out repository code
        uses: actions/checkout@v3
      - run: cd examples/matlab/; octave runme.m
      
  Zig:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
      - name: Setup Zig
        uses: goto-bus-stop/setup-zig@v2
        with:
          version: 0.13.0
      - name: Build and run
        run: cd examples/zig && zig build && zig build run