From f23f29d1ef256cb860469351a2be9b847fd87933 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 5 Aug 2021 11:22:27 -0400
Subject: [PATCH 1/8] speed up boost install

---
 .github/scripts/boost.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/scripts/boost.sh b/.github/scripts/boost.sh
index 647a846281..3c7e012748 100644
--- a/.github/scripts/boost.sh
+++ b/.github/scripts/boost.sh
@@ -9,10 +9,10 @@ tar -zxf ${BOOST_FOLDER}.tar.gz
 
 # Bootstrap
 cd ${BOOST_FOLDER}/
-./bootstrap.sh
+./bootstrap.sh --with-libraries=serialization,filesystem,thread,system,atomic,date_time,timer,chrono,program_options,regex
 
 # Build and install
-sudo ./b2 install
+sudo ./b2 -j$(nproc) install
 
 # Rebuild ld cache
 sudo ldconfig

From f9b8de3876bf5128091f970f1563fa6fc49a7d28 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 6 Aug 2021 15:53:40 -0400
Subject: [PATCH 2/8] improvements to CI files

---
 .github/workflows/build-linux.yml   | 11 ++++-------
 .github/workflows/build-macos.yml   |  9 +++------
 .github/workflows/build-python.yml  |  2 +-
 .github/workflows/build-special.yml |  2 +-
 .github/workflows/build-windows.yml | 20 +++++++++-----------
 5 files changed, 18 insertions(+), 26 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 5483c32cfd..f52e5eec36 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -47,8 +47,7 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Install (Linux)
-        if: runner.os == 'Linux'
+      - name: Install Dependencies
         run: |
           # LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository.
           if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
@@ -63,7 +62,7 @@ jobs:
           fi
           sudo apt-get -y update
 
-          sudo apt-get install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
@@ -79,7 +78,5 @@ jobs:
         run: |
           bash .github/scripts/boost.sh
 
-      - name: Build and Test (Linux)
-        if: runner.os == 'Linux'
-        run: |
-          bash .github/scripts/unix.sh -t
+      - name: Build and Test
+        run: bash .github/scripts/unix.sh -t
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index ed8f8563b7..462723222f 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -34,8 +34,7 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Install (macOS)
-        if: runner.os == 'macOS'
+      - name: Install Dependencies
         run: |
           brew install cmake ninja
           brew install boost
@@ -48,7 +47,5 @@ jobs:
             echo "CC=clang" >> $GITHUB_ENV
             echo "CXX=clang++" >> $GITHUB_ENV
           fi
-      - name: Build and Test (macOS)
-        if: runner.os == 'macOS'
-        run: |
-          bash .github/scripts/unix.sh -t
+      - name: Build and Test
+        run: bash .github/scripts/unix.sh -t
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index addde8c64c..3fc2d662f8 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -81,7 +81,7 @@ jobs:
           fi
           sudo apt-get -y update
           
-          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
           
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index 6427e13bc8..3bb3fa2988 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -70,7 +70,7 @@ jobs:
           fi
           sudo apt-get -y update
 
-          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index a564dade9d..8af23d76b0 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -18,15 +18,14 @@ jobs:
         # 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: [
-          #TODO This build keeps timing out, need to understand why.
-          # windows-2016-cl,
-          windows-2019-cl,
-        ]
+            #TODO This build keeps timing out, need to understand why.
+            # windows-2016-cl,
+            windows-2019-cl,
+          ]
 
         build_type: [Debug, Release]
         build_unstable: [ON]
         include:
-
           #TODO This build keeps timing out, need to understand why.
           # - name: windows-2016-cl
           #   os: windows-2016
@@ -37,10 +36,7 @@ jobs:
             compiler: cl
 
     steps:
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Install (Windows)
-        if: runner.os == 'Windows'
+      - name: Install
         shell: powershell
         run: |
           Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
@@ -72,8 +68,10 @@ jobs:
           boost_version: 1.72.0
           toolset: msvc14.2
 
-      - name: Build (Windows)
-        if: runner.os == 'Windows'
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Build
         env:
           BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }}
         run: |

From 19f13f3b72544eb43bfa8a803c5d93c8408be3b3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 6 Aug 2021 16:04:40 -0400
Subject: [PATCH 3/8] Install boost directly from binary

---
 .github/workflows/build-windows.yml | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 8af23d76b0..d03a951004 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -12,6 +12,8 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+      BOOST_ROOT: C:\hostedtoolcache\windows\Boost\1.72.0\x86_64
+
     strategy:
       fail-fast: false
       matrix:
@@ -61,19 +63,18 @@ jobs:
           # Scoop modifies the PATH so we make the modified PATH global.
           echo "$env:PATH" >> $GITHUB_PATH
 
-      - name: Download and install Boost
-        uses: MarkusJx/install-boost@v1.0.1
-        id: install-boost
-        with:
-          boost_version: 1.72.0
-          toolset: msvc14.2
+      - name: Install Boost
+        run: |
+          # Snippet from: https://github.com/actions/virtual-environments/issues/2667
+          # Use the boost_1_72_0-msvc-14.1-64.exe for Windows 2016
+          $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.2-64.exe"
+          (New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe")
+          Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=C:\hostedtoolcache\windows\Boost\1.72.0\x86_64"
 
       - name: Checkout
         uses: actions/checkout@v2
 
       - name: Build
-        env:
-          BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }}
         run: |
           cmake -E remove_directory build
           cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"

From 2d590656fc92a0e6ed292b8909697e093af7a49f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 6 Aug 2021 20:16:33 -0400
Subject: [PATCH 4/8] use Boost 1.67.0 for Windows

---
 .github/workflows/build-windows.yml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index d03a951004..20408b0f92 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -12,7 +12,7 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
-      BOOST_ROOT: C:\hostedtoolcache\windows\Boost\1.72.0\x86_64
+      BOOST_ROOT: C:\hostedtoolcache\windows\Boost\1.67.0\x86_64
 
     strategy:
       fail-fast: false
@@ -66,10 +66,10 @@ jobs:
       - name: Install Boost
         run: |
           # Snippet from: https://github.com/actions/virtual-environments/issues/2667
-          # Use the boost_1_72_0-msvc-14.1-64.exe for Windows 2016
-          $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.2-64.exe"
+          # Use the boost_1_67_0-msvc-14.1-64.exe for Windows 2016
+          $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/1.67.0/boost_1_67_0-msvc-14.1-64.exe"
           (New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe")
-          Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=C:\hostedtoolcache\windows\Boost\1.72.0\x86_64"
+          Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=C:\hostedtoolcache\windows\Boost\1.67.0\x86_64"
 
       - name: Checkout
         uses: actions/checkout@v2

From d34555f45d148cb57c6f14bb231bcd68c484a4ed Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 Aug 2021 14:14:01 -0400
Subject: [PATCH 5/8] use env variables and fix setting of GITHUB_ENV

---
 .github/workflows/build-windows.yml | 25 ++++++++++++++++---------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 20408b0f92..0a4774744b 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -12,7 +12,8 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
-      BOOST_ROOT: C:\hostedtoolcache\windows\Boost\1.67.0\x86_64
+      BOOST_VERSION: 1.67.0
+      BOOST_EXE: boost_1_67_0-msvc-14.1-64.exe
 
     strategy:
       fail-fast: false
@@ -38,7 +39,7 @@ jobs:
             compiler: cl
 
     steps:
-      - name: Install
+      - name: Install Dependencies
         shell: powershell
         run: |
           Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
@@ -57,19 +58,25 @@ jobs:
             echo "CC=clang" >> $GITHUB_ENV
             echo "CXX=clang++" >> $GITHUB_ENV
           } else {
-            echo "CC=${{ matrix.compiler }}" >> $GITHUB_ENV
-            echo "CXX=${{ matrix.compiler }}" >> $GITHUB_ENV
+            echo "CC=${{ matrix.compiler }}" >> $env:GITHUB_ENV
+            echo "CXX=${{ matrix.compiler }}" >> $env:GITHUB_ENV
           }
           # Scoop modifies the PATH so we make the modified PATH global.
-          echo "$env:PATH" >> $GITHUB_PATH
+          echo "$env:PATH" >> $env:GITHUB_PATH
 
       - name: Install Boost
+        shell: powershell
         run: |
           # Snippet from: https://github.com/actions/virtual-environments/issues/2667
-          # Use the boost_1_67_0-msvc-14.1-64.exe for Windows 2016
-          $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/1.67.0/boost_1_67_0-msvc-14.1-64.exe"
-          (New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe")
-          Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=C:\hostedtoolcache\windows\Boost\1.67.0\x86_64"
+          $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/$env:BOOST_EXE"
+          (New-Object System.Net.WebClient).DownloadFile($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: Checkout
         uses: actions/checkout@v2

From 517ff4391abcf62f8c20cf8423ae979c5d5939b4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 9 Aug 2021 19:50:40 -0400
Subject: [PATCH 6/8] use more cores for make on unix systems

---
 .github/scripts/unix.sh | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index 55a8ac372b..6abbb55965 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -92,7 +92,11 @@ function build ()
 
   configure
 
-  make -j2
+  if [ "$(uname)" == "Linux" ]; then
+    make -j$(nproc)
+  elif [ "$(uname)" == "Darwin" ]; then
+    make -j$(sysctl -n hw.physicalcpu)
+  fi
 
   finish
 }
@@ -105,8 +109,12 @@ function test ()
 
   configure
 
-  # Actual build:
-  make -j2 check
+  # Actual testing
+  if [ "$(uname)" == "Linux" ]; then
+    make -j$(nproc)
+  elif [ "$(uname)" == "Darwin" ]; then
+    make -j$(sysctl -n hw.physicalcpu)
+  fi
 
   finish
 }

From 47c0f717ae1bf2512aeebb66c510f2beae6c86a5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 9 Aug 2021 19:50:56 -0400
Subject: [PATCH 7/8] improvements to windows builds

---
 .github/workflows/build-windows.yml | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 0a4774744b..ab15d64bb7 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -13,7 +13,7 @@ jobs:
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
       BOOST_VERSION: 1.67.0
-      BOOST_EXE: boost_1_67_0-msvc-14.1-64.exe
+      BOOST_EXE: boost_1_67_0-msvc-14.1
 
     strategy:
       fail-fast: false
@@ -21,7 +21,7 @@ jobs:
         # 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: [
-            #TODO This build keeps timing out, need to understand why.
+            #TODO This build fails, need to understand why.
             # windows-2016-cl,
             windows-2019-cl,
           ]
@@ -29,24 +29,29 @@ jobs:
         build_type: [Debug, Release]
         build_unstable: [ON]
         include:
-          #TODO This build keeps timing out, need to understand why.
+          #TODO This build fails, need to understand why.
           # - name: windows-2016-cl
           #   os: windows-2016
           #   compiler: cl
+          #   platform: 32
 
           - name: windows-2019-cl
             os: windows-2019
             compiler: cl
+            platform: 64
 
     steps:
       - name: Install Dependencies
         shell: powershell
         run: |
           Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
+          scoop install cmake --global  # So we don't get issues with CMP0074 policy
           scoop install ninja --global
+
           if ("${{ matrix.compiler }}".StartsWith("clang")) {
             scoop install llvm --global
           }
+
           if ("${{ matrix.compiler }}" -eq "gcc") {
             # Chocolatey GCC is broken on the windows-2019 image.
             # See: https://github.com/DaanDeMeyer/doctest/runs/231595515
@@ -54,13 +59,17 @@ jobs:
             scoop install gcc --global
             echo "CC=gcc" >> $GITHUB_ENV
             echo "CXX=g++" >> $GITHUB_ENV
+
           } elseif ("${{ matrix.compiler }}" -eq "clang") {
             echo "CC=clang" >> $GITHUB_ENV
             echo "CXX=clang++" >> $GITHUB_ENV
+
           } else {
             echo "CC=${{ matrix.compiler }}" >> $env:GITHUB_ENV
             echo "CXX=${{ matrix.compiler }}" >> $env:GITHUB_ENV
+
           }
+
           # Scoop modifies the PATH so we make the modified PATH global.
           echo "$env:PATH" >> $env:GITHUB_PATH
 
@@ -71,7 +80,7 @@ jobs:
           $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"
+          $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$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"
 

From 103b1985694abf33b5e3a861f37a8b7f443577fc Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 10 Aug 2021 13:04:22 -0400
Subject: [PATCH 8/8] Boost 1.72.0 for Windows

---
 .github/workflows/build-windows.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index ab15d64bb7..5dfdcd0132 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -12,8 +12,8 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
-      BOOST_VERSION: 1.67.0
-      BOOST_EXE: boost_1_67_0-msvc-14.1
+      BOOST_VERSION: 1.72.0
+      BOOST_EXE: boost_1_72_0-msvc-14.2
 
     strategy:
       fail-fast: false