borglab · talregev · Oct 13, 2023
diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
@@ -65,14 +65,13 @@ function build()
   # Set to 2 cores so that Actions does not error out during resource provisioning.
   cmake --build build -j2
 
-  $PYTHON -m pip install --user build/python
+  cmake --build build --target python-install
 }
 
 function test()
 {
-  cd $GITHUB_WORKSPACE/python/gtsam/tests
-  $PYTHON -m unittest discover -v
-  cd $GITHUB_WORKSPACE
+  cmake --build build --target python-test
+  cmake --build build --target python-test-unstable
 }
 
 # select between build or test

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
@@ -18,9 +18,11 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       PYTHON_VERSION: ${{ matrix.python_version }}
+      BOOST_VERSION: 1.72.0
+      BOOST_EXE: boost_1_72_0-msvc-14.2      
 
     strategy:
-      fail-fast: true
+      fail-fast: false
       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.
@@ -30,6 +32,7 @@ jobs:
             ubuntu-20.04-gcc-9-tbb,
             ubuntu-20.04-clang-9,
             macOS-11-xcode-13.4.1,
+            windows-2019-msbuild,
           ]
 
         build_type: [Release]
@@ -56,6 +59,10 @@ jobs:
             compiler: xcode
             version: "13.4.1"
 
+          - name: windows-2019-msbuild
+            os: windows-2019
+            platform: 64
+
     steps:
       - name: Checkout
         uses: actions/checkout@v3
@@ -97,29 +104,75 @@ jobs:
           echo "CC=clang" >> $GITHUB_ENV
           echo "CXX=clang++" >> $GITHUB_ENV
 
+      - name: Setup msbuild (Windows)
+        if: runner.os == 'Windows'
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: x${{matrix.platform}}
+          toolset: "29"
+
+      - name: cl version
+        if: runner.os == 'Windows'
+        shell: cmd
+        run: |
+          cl
+
+      - name: Setup python (Windows)
+        uses: actions/setup-python@v4
+        if: runner.os == 'Windows'
+        with:
+          python-version: ${{ matrix.python_version }}
+
+      - name: Install ninja (Windows)
+        if: runner.os == 'Windows'
+        shell: bash
+        run: |
+          choco install ninja
+          ninja --version
+          where ninja
+
+      - name: Install Boost (Windows)
+        if: runner.os == 'Windows'
+        shell: powershell
+        run: |
+          # Snippet from: https://github.com/actions/virtual-environments/issues/2667
+          $BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64"
+
+          # Use the prebuilt binary for Windows
+          $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe"
+          (New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe")
+          Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH"
+
+          # Set the BOOST_ROOT variable
+          echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV
+
       - name: Set GTSAM_WITH_TBB Flag
         if: matrix.flag == 'tbb'
         run: |
           echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
           echo "GTSAM Uses TBB"
 
-      - name: Set Swap Space
+      - name: Set Swap Space (Linux)
         if: runner.os == 'Linux'
         uses: pierotofy/set-swap-space@master
         with:
           swap-size-gb: 6
 
-      - name: Install System Dependencies
+      - name: Install System Dependencies (Linux, macOS)
+        if: runner.os != 'Windows'
         run: |
           bash .github/scripts/python.sh -d
 
       - name: Install Python Dependencies
+        shell: bash
         run: python$PYTHON_VERSION -m pip install -r python/dev_requirements.txt
 
       - name: Build
+        shell: bash
         run: |
           bash .github/scripts/python.sh -b
 
       - name: Test
+        shell: bash
         run: |
           bash .github/scripts/python.sh -t
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
@@ -98,6 +98,7 @@ jobs:
         uses: ilammy/msvc-dev-cmd@v1
         with:
           arch: x${{ matrix.platform }}
+          toolset: "29"
 
       - name: Configuration
         shell: bash

diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -0,0 +1,101 @@
+name: Linux
+on:
+  pull_request:
+    branches: 
+      - "*" # Pull request for all branches
+  schedule:
+    - cron:  '10 12 * * 0'
+
+# 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: vcpkg-ubuntu-${{ matrix.type }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - type: x64
+          BUILD_DIR: gtsam/3rdparty/vcpkg/cache
+          VCPKG_ROOT: gtsam/3rdparty/vcpkg/cache/vcpkg
+          VCPKG_LINK: https://github.com/microsoft/vcpkg/
+          VCPKG_CONFIGS: gtsam/3rdparty/vcpkg
+          BINARY_CACHE: gtsam/3rdparty/cache/linux
+    env:
+      BUILD_DIR: ${{ matrix.BUILD_DIR }}
+      VCPKG_ROOT: ${{ matrix.VCPKG_ROOT }}
+      VCPKG_LINK: ${{ matrix.VCPKG_LINK }}
+      VCPKG_CONFIGS: ${{ matrix.VCPKG_CONFIGS }}
+      BINARY_CACHE: ${{ matrix.BINARY_CACHE }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Cache dependencies
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+            ${{ matrix.BINARY_CACHE }}
+          key: linux-${{ hashFiles('.github/workflows/linux.yml') }}
+          restore-keys: linux-${{ hashFiles('.github/workflows/linux.yml') }}
+
+      - name: Install ninja
+        if: success()
+        run: |   
+          sudo apt install -y ninja-build
+          ninja --version
+          whereis ninja
+
+      - name: Init vcpkg
+        if: success()
+        run: |        
+          mkdir -p $BUILD_DIR
+          git -C $BUILD_DIR clone $VCPKG_LINK
+
+      - name: Vcpkg build & cmake config
+        if: success() 
+        run: |
+          export VCPKG_BINARY_SOURCES="clear;files,$PWD/$BINARY_CACHE,readwrite;"
+          mkdir -p $BINARY_CACHE
+          export CMAKE_GENERATOR=Ninja
+          cmake . -B build \
+              -DCMAKE_TOOLCHAIN_FILE=$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake \
+              -DVCPKG_MANIFEST_DIR=$VCPKG_CONFIGS/manifest \
+              -DVCPKG_INSTALLED_DIR=$VCPKG_ROOT/installed \
+              -DVCPKG_OVERLAY_TRIPLETS=$VCPKG_CONFIGS/triplets \
+              -DVCPKG_TARGET_TRIPLET=x64-linux-release \
+              -DVCPKG_INSTALL_OPTIONS=--clean-after-build \
+              -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
+              -DGTSAM_ROT3_EXPMAP=ON \
+              -DGTSAM_POSE3_EXPMAP=ON \
+              -DGTSAM_BUILD_PYTHON=ON \
+              -DGTSAM_BUILD_TESTS=ON \
+              -DGTSAM_BUILD_UNSTABLE=ON \
+              -DGTSAM_USE_SYSTEM_EIGEN=ON \
+              -DGTSAM_USE_SYSTEM_METIS=ON \
+              -DGTSAM_SUPPORT_NESTED_DISSECTION=ON
+
+      - name: Save cache dependencies
+        id: cache-save
+        uses: actions/cache/save@v3
+        with:
+          path: |
+            ${{ matrix.BINARY_CACHE }}
+          key: linux-${{ hashFiles('.github/workflows/linux.yml') }}-${{ hashFiles('gtsam/3rdparty/vcpkg/cache/vcpkg/installed/vcpkg/updates/*') }}
+
+
+      - name: Cmake build
+        if: success()
+        run: |
+          cmake --build build --config Release -j 2
+
+      - name: Run tests
+        if: success() 
+        run: |
+          # metis test are failing. remove this comment when fix it.
+          # cmake --build build --target check -j 2
diff --git a/.github/workflows/osx.yml b/.github/workflows/osx.yml
@@ -0,0 +1,109 @@
+name: OSX
+on:
+  pull_request:
+    branches: 
+      - "*" # Pull request for all branches
+  schedule:
+    - cron:  '10 12 * * 0'
+
+# 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: vcpkg-macos-${{ matrix.type }}
+    runs-on: macos-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - type: x64
+          BUILD_DIR: gtsam/3rdparty/vcpkg/cache
+          VCPKG_ROOT: gtsam/3rdparty/vcpkg/cache/vcpkg
+          VCPKG_LINK: https://github.com/microsoft/vcpkg/
+          VCPKG_CONFIGS: gtsam/3rdparty/vcpkg
+          BINARY_CACHE: gtsam/3rdparty/cache/osx
+    env:
+      BUILD_DIR: ${{ matrix.BUILD_DIR }}
+      VCPKG_ROOT: ${{ matrix.VCPKG_ROOT }}
+      VCPKG_LINK: ${{ matrix.VCPKG_LINK }}
+      VCPKG_CONFIGS: ${{ matrix.VCPKG_CONFIGS }}
+      BINARY_CACHE: ${{ matrix.BINARY_CACHE }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Cache dependencies
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+           ${{ matrix.BINARY_CACHE }}
+          key: osx-${{ hashFiles('.github/workflows/osx.yml') }}
+          restore-keys: osx-${{ hashFiles('.github/workflows/osx.yml') }}
+
+      - name: Install Dependencies
+        run: |
+          sudo xcode-select -switch /Applications/Xcode.app
+
+      - name: Install python packages
+        if: success()
+        run: |
+          pip3 install pyparsing
+
+      - name: Install ninja
+        if: success()
+        run: |
+          brew install ninja
+          ninja --version
+          whereis ninja        
+
+      - name: Init vcpkg
+        if: success()
+        run: |        
+          mkdir -p $BUILD_DIR
+          git -C $BUILD_DIR clone $VCPKG_LINK
+
+      - name: Vcpkg build & cmake config
+        if: success() 
+        run: |
+          export VCPKG_BINARY_SOURCES="clear;files,$PWD/$BINARY_CACHE,readwrite;"
+          mkdir -p $BINARY_CACHE
+          export CMAKE_GENERATOR=Ninja
+          cmake . -B build \
+              -DCMAKE_TOOLCHAIN_FILE=$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake \
+              -DVCPKG_MANIFEST_DIR=$VCPKG_CONFIGS/manifest \
+              -DVCPKG_INSTALLED_DIR=$VCPKG_ROOT/installed \
+              -DVCPKG_OVERLAY_TRIPLETS=$VCPKG_CONFIGS/triplets \
+              -DVCPKG_TARGET_TRIPLET=x64-osx-release \
+              -DVCPKG_INSTALL_OPTIONS=--clean-after-build \
+              -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
+              -DGTSAM_ROT3_EXPMAP=ON \
+              -DGTSAM_POSE3_EXPMAP=ON \
+              -DGTSAM_BUILD_PYTHON=ON \
+              -DGTSAM_BUILD_TESTS=ON \
+              -DGTSAM_BUILD_UNSTABLE=ON \
+              -DGTSAM_USE_SYSTEM_EIGEN=ON \
+              -DGTSAM_USE_SYSTEM_METIS=ON \
+              -DGTSAM_SUPPORT_NESTED_DISSECTION=ON
+
+      - name: Save cache dependencies
+        id: cache-save
+        uses: actions/cache/save@v3
+        with:
+          path: |
+            ${{ matrix.BINARY_CACHE }}
+          key: osx-${{ hashFiles('.github/workflows/osx.yml') }}-${{ hashFiles('gtsam/3rdparty/vcpkg/cache/vcpkg/installed/vcpkg/updates/*') }}
+
+      - name: Cmake build
+        if: success()
+        run: |
+          cmake --build build --config Release -j 2
+
+      - name: Run tests
+        if: success() 
+        run: |
+          # metis test are failing. remove this comment when fix it.
+          # cmake --build build --target check -j 2