build-rust.yml

name: Build Rust

on: [pull_request, push]

concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
  cancel-in-progress: true

jobs:
  build-rust:
    strategy:
      fail-fast: false
      matrix:
        include:
          - artifact-name: Rust Native - Windows x86_64 (CasADi)
            optimizer_backend: casadi
            os: windows-2022
          - artifact-name: Rust Native - macOS x86_64 (CasADi)
            optimizer_backend: casadi
            os: macOS-13
          - artifact-name: Rust Native - macOS arm64 (CasADi)
            optimizer_backend: casadi
            os: macOS-14
          - artifact-name: Rust Native - Linux x86_64 (CasADi)
            optimizer_backend: casadi
            os: ubuntu-latest
          - artifact-name: Rust Native - Windows x86_64 (Sleipnir)
            optimizer_backend: sleipnir
            os: windows-2022
          - artifact-name: Rust Native - macOS x86_64 (Sleipnir)
            optimizer_backend: sleipnir
            os: macOS-13
          - artifact-name: Rust Native - macOS arm64 (Sleipnir)
            optimizer_backend: sleipnir
            os: macOS-14
          - artifact-name: Rust Native - Linux x86_64 (Sleipnir)
            optimizer_backend: sleipnir
            os: ubuntu-latest

    name: "${{ matrix.artifact-name }}"
    runs-on: ${{ matrix.os }}

    steps:
      - uses: actions/checkout@v4

      - name: Set to Windows GNU Rust Toolchain
        if: matrix.os == 'windows-2022' && matrix.optimizer_backend == 'casadi'
        run: |
          rustup install 1.69-gnu
          rustup default 1.69-gnu

      - name: Set up MinGW
        if: matrix.os == 'windows-2022' && matrix.optimizer_backend == 'casadi'
        run: |
          choco upgrade mingw --version=11.2.0 -y --no-progress --allow-downgrade
          echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw64\bin >> $env:GITHUB_PATH

      - name: Build Rust
        working-directory: rust
        run: cargo build --features ${{ matrix.optimizer_backend }}

      - name: Run Rust
        working-directory: rust
        run: cargo run --example swerve --features ${{ matrix.optimizer_backend }}