Use photon-image-runner to build images (#2210)

## Description

This PR switches image building from `pguyot/arm-runner-action` to
`PhotonVision/photon-image-runner`. The new runner uses native arm
runners on GitHub and is much faster than the emulation used by the
pguyot version.

Images from
a95914ca36
tested and working on:

- [x] RaspberryPi4b
- [x] OrangePi5
- [x] OrangePi5pro
- [x] RubikPi3

Closes #2191

<!-- Any issues this pull request closes or pull requests this
supersedes should be linked with `Closes #issuenumber`. -->

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with settings back to v2024.3.1
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added

.github/workflows/build.yml

@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2026.0.4
+  IMAGE_VERSION: v2026.0.5
 
 jobs:
 
@@ -455,78 +455,73 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-24.04
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: limelight2
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-24.04
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: limelight3
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-24.04
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: limelight3G
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-24.04
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: limelight4
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
-            cpu: cortex-a76
-            image_additional_mb: 0
-          - os: ubuntu-24.04
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: luma_p1
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_luma_p1.img.xz
-            cpu: cortex-a76
-            image_additional_mb: 0
-          - os: ubuntu-24.04
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5b
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5b.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5plus
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5pro
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5pro.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5max
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-24.04
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: rock5c
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
+            artifact-name: LinuxArm64
+            image_suffix: rubikpi3
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz
+            minimum_free_mb: 1024
+            root_location: 'offset=569376768'
+            shrink_image: 'no'
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_suffix }}"
@@ -539,64 +534,48 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ matrix.artifact-name }}
-      - uses: pguyot/arm-runner-action@HEAD
+      - uses: photonvision/photon-image-runner@HEAD
         name: Generate image
         id: generate_image
         with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
+          image_url: ${{ matrix.image_url }}
+          minimum_free_mb: ${{ matrix.minimum_free_mb }}
+          root_location: ${{ matrix.root_location || 'partition=2' }}
+          shrink_image: ${{ matrix.shrink_image || 'yes' }}
           commands: |
             chmod +x scripts/armrunner.sh
             ./scripts/armrunner.sh
+
       - name: Compress image
+        # Compress the standard images
+        if: ${{ ! startsWith(matrix.image_suffix, 'rubik') }}
         run: |
           new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
           new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
-          mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo mv ${{ steps.generate_image.outputs.image }} $new_image_name
           sudo xz -T 0 -v $new_image_name
+
+      - name: Tar built image
+        # Build the RubikPi3-specific tar file
+        if: ${{ startsWith(matrix.image_suffix, 'rubik') }}
+        run: |
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+
+          imagedir=$(dirname ${{ steps.generate_image.outputs.image }})
+          tardir=${new_image_name}
+          sudo mkdir --parents ${tardir}
+          sudo mv ${imagedir}/* ${tardir}/
+          sudo tar -I 'xz -T0' -cf ${new_image_name}.tar.xz ${tardir} --checkpoint=10000 --checkpoint-action=echo='%T'
+
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:
           name: image-${{ matrix.image_suffix }}
           path: photonvision*.xz
-  build-rubik-image:
-    needs: [build-package]
 
-    if: ${{ github.event_name != 'pull_request' }}
-
-    runs-on: ubuntu-24.04
-    name: "Build image - Rubik Pi 3"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-LinuxArm64
-      - name: Generate image
-        run: |
-          wget https://raw.githubusercontent.com/PhotonVision/photon-image-modifier/refs/tags/$IMAGE_VERSION/mount_rubikpi3.sh
-          chmod +x mount_rubikpi3.sh
-          ./mount_rubikpi3.sh https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz /tmp/build/scripts/armrunner.sh
-      - name: Compress image
-        run: |
-          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-          new_image_name=$(basename "${new_jar/.jar/_rubikpi3.img}")
-          mv photonvision_rubikpi3 $new_image_name
-          tar -I 'xz -T0' -cf ${new_image_name}.tar.xz $new_image_name --checkpoint=10000 --checkpoint-action=echo='%T'
-      - uses: actions/upload-artifact@v4
-        name: Upload image
-        with:
-          name: image-rubikpi3
-          path: photonvision*.xz
   release:
-    needs: [build-photonlib-vendorjson, build-package, build-image, build-rubik-image, combine]
+    needs: [build-photonlib-vendorjson, build-package, build-image, combine]
     runs-on: ubuntu-22.04
     steps:
       # Download all fat JARs