Uni-Lab-OS/.github/workflows/multi-platform-build.yml

name: Multi-Platform Conda Build

on:
  push:
    branches: [ main, dev ]
    tags: [ 'v*' ]
  pull_request:
    branches: [ main, dev ]
  workflow_dispatch:
    inputs:
      platforms:
        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
        required: false
        default: 'osx-arm64'

jobs:
  build:
    strategy:
      fail-fast: false
      matrix:
        include:
        - os: ubuntu-latest
          platform: linux-64
          env_file: unilabos-linux-64.yaml
        - os: macos-13 # Intel
          platform: osx-64
          env_file: unilabos-osx-64.yaml
        - os: macos-latest # ARM64
          platform: osx-arm64
          env_file: unilabos-osx-arm64.yaml
        - os: windows-latest
          platform: win-64
          env_file: unilabos-win64.yaml

    runs-on: ${{ matrix.os }}

    defaults:
      run:
        shell: bash -l {0}

    steps:
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0

    - name: Check if platform should be built
      id: should_build
      run: |
        if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
          echo "should_build=true" >> $GITHUB_OUTPUT
        elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
          echo "should_build=true" >> $GITHUB_OUTPUT
        elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
          echo "should_build=true" >> $GITHUB_OUTPUT
        else
          echo "should_build=false" >> $GITHUB_OUTPUT
        fi

    - name: Setup Miniconda
      if: steps.should_build.outputs.should_build == 'true'
      uses: conda-incubator/setup-miniconda@v3
      with:
        miniconda-version: "latest"
        channels: conda-forge,robostack-staging,defaults
        channel-priority: strict
        activate-environment: build-env
        auto-activate-base: false
        auto-update-conda: false
        show-channel-urls: true

    - name: Install boa and build tools
      if: steps.should_build.outputs.should_build == 'true'
      run: |
        conda install -c conda-forge boa conda-build

    - name: Show environment info
      if: steps.should_build.outputs.should_build == 'true'
      run: |
        conda info
        conda list | grep -E "(boa|conda-build)"
        echo "Platform: ${{ matrix.platform }}"
        echo "OS: ${{ matrix.os }}"

    - name: Build conda package
      if: steps.should_build.outputs.should_build == 'true'
      run: |
        if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
          boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
        else
          boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
        fi

    - name: List built packages
      if: steps.should_build.outputs.should_build == 'true'
      run: |
        echo "Built packages in conda-bld:"
        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
        ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
        ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
        echo "CONDA_PREFIX: $CONDA_PREFIX"
        echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"

    - name: Prepare artifacts for upload
      if: steps.should_build.outputs.should_build == 'true'
      run: |
        mkdir -p ${{ runner.temp }}/conda-packages
        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
        echo "Copied files to temp directory:"
        ls -la ${{ runner.temp }}/conda-packages/

    - name: Upload conda package artifacts
      if: steps.should_build.outputs.should_build == 'true'
      uses: actions/upload-artifact@v4
      with:
        name: conda-package-${{ matrix.platform }}
        path: ${{ runner.temp }}/conda-packages
        if-no-files-found: warn
        retention-days: 30

    - name: Create release assets (on tags)
      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
      run: |
        mkdir -p release-assets
        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;

    - name: Upload to release
      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
      uses: softprops/action-gh-release@v1
      with:
        files: release-assets/*
        draft: false
        prerelease: false