name: Linux CI

on:
  pull_request:
    paths-ignore:
      - '**.md'
      - '**.ipynb' 
      - 'myst.yml'

# 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.name }} ${{ matrix.build_type }}
    runs-on: ${{ matrix.os }}

    env:
      CTEST_OUTPUT_ON_FAILURE: ON
      CTEST_PARALLEL_LEVEL: 2
      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}

    strategy:
      fail-fast: true
      matrix:
        # Github Actions requires a single row to be added to the build matrix.
        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
        name: [
            # "Bracket" the versions from GCC [9-14] and Clang [9-16]
            ubuntu-20.04-gcc-9,
            ubuntu-20.04-clang-9,
            ubuntu-24.04-gcc-14,
            ubuntu-24.04-clang-16,
          ]

        build_type: [Debug, Release]
        build_unstable: [ON]
        include:
          - name: ubuntu-20.04-gcc-9
            os: ubuntu-20.04
            compiler: gcc
            version: "9"

          - name: ubuntu-20.04-clang-9
            os: ubuntu-20.04
            compiler: clang
            version: "9"

          - name: ubuntu-24.04-gcc-14
            os: ubuntu-24.04
            compiler: gcc
            version: "14"

          - name: ubuntu-24.04-clang-16
            os: ubuntu-24.04
            compiler: clang
            version: "16"

    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Install Dependencies
        run: |
          # LLVM (clang) 9/14 is not in Bionic's repositories so we add the official LLVM repository.
          if [ "${{ matrix.compiler }}" = "clang" ]; then
            # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool
            # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure
            # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository
            # This key is not in the keystore by default for Ubuntu so we need to add it.
            LLVM_KEY=15CF4D18AF4F7421
            gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY
            gpg -a --export $LLVM_KEY | sudo apt-key add -
            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
          fi

          sudo apt-get -y update
          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev ninja-build

          if [ "${{ matrix.compiler }}" = "gcc" ]; then
            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
            echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
            echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
          else
            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
            echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
            echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
          fi

      - name: Install Boost
        run: |
          sudo apt-get -y install libboost-all-dev

      - name: Build and Test
        run: bash .github/scripts/unix.sh -t