Loosely pin numpy to 2.3 (#2303)

.github/workflows/build.yml

@@ -555,32 +555,32 @@ jobs:
           minimum_free_mb: ${{ matrix.minimum_free_mb }}
           root_location: ${{ matrix.root_location || 'partition=2' }}
           shrink_image: ${{ matrix.shrink_image || 'yes' }}
-          commands: |
-            chmod +x scripts/armrunner.sh
-            ./scripts/armrunner.sh
-            java -jar *.jar --smoketest --platform=${{ matrix.plat_override }}
+          commands: ./scripts/armrunner.sh
 
       - name: Compress image
         # Compress the standard images
         if: ${{ ! startsWith(matrix.image_suffix, 'rubik') }}
         run: |
+          set -ex
           new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
           new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
           sudo mv ${{ steps.generate_image.outputs.image }} $new_image_name
-          sudo xz -T 0 -v $new_image_name
+          sudo xz -T 0 -kv $new_image_name
+          echo "smoketest_image_loc=${new_image_name}" >> $GITHUB_ENV
 
-      - name: Tar built image
+      - name: Tar built image (Rubik)
         # Build the RubikPi3-specific tar file
         if: ${{ startsWith(matrix.image_suffix, 'rubik') }}
         run: |
+          set -ex
           new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
-
+          tardir=$(basename "${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'
+          sudo cp ${imagedir}/* ${tardir}/
+          sudo tar -I 'xz -T0' -cf ${tardir}.tar.xz ${tardir} --checkpoint=10000 --checkpoint-action=echo='%T'
+          # Point smoketest to the old image
+          echo "smoketest_image_loc=${{ steps.generate_image.outputs.image }}" >> $GITHUB_ENV
 
       - uses: actions/upload-artifact@v6
         name: Upload image
@@ -588,6 +588,16 @@ jobs:
           name: image-${{ matrix.image_suffix }}
           path: photonvision*.xz
 
+        # This is done after uploading the image to avoid contaminating the image with logs, caches, etc.
+      - uses: photonvision/photon-image-runner@HEAD
+        name: Smoketest Image
+        with:
+          image_url: file://${{ env.smoketest_image_loc }}
+          minimum_free_mb: ${{ matrix.minimum_free_mb }}
+          root_location: ${{ matrix.root_location || 'partition=2' }}
+          shrink_image: ${{ matrix.shrink_image || 'yes' }}
+          commands: java -jar *.jar --smoketest --platform=${{ matrix.plat_override }}
+
   matrix-checker:
     # This job always runs last to set the overall result based on the matrix jobs. If any matrix job failed, this job will fail.
     # This makes it so that we don't need to add each matrix job individually to CI checks.

photon-lib/py/setup.py

@@ -4,15 +4,13 @@ import subprocess
 from setuptools import find_packages, setup
 
 gitDescribeResult = (
-    subprocess.check_output(
-        ["git", "describe", "--tags", "--match=v*", "--exclude=*rc*", "--always"]
-    )
+    subprocess.check_output(["git", "describe", "--tags", "--match=v*", "--always"])
     .decode("utf-8")
     .strip()
 )
 
 m = re.search(
-    r"(v[0-9]{4}\.[0-9]{1}\.[0-9]{1})-?((?:beta)?(?:alpha)?)-?([0-9\.]*)",
+    r"v([0-9]{4}\.[0-9]{1}\.[0-9]{1})-?((?:beta|alpha|rc)?)-?([0-9\.]*)",
     gitDescribeResult,
 )
 
@@ -26,7 +24,7 @@ if m:
         prefix = m.group(1)
         maturity = m.group(2)
         suffix = m.group(3).replace(".", "")
-        versionString = f"{prefix}.{maturity}.{suffix}"
+        versionString = f"{prefix}{maturity}{suffix}"
     else:
         split = gitDescribeResult.split("-")
         if len(split) == 3:
@@ -35,8 +33,7 @@ if m:
             versionString = f"{year[1:]}post{commits}"
             print("using dev release " + versionString)
         else:
-            year = gitDescribeResult
-            versionString = year[1:]
+            versionString = gitDescribeResult[1:]
             print("using full release " + versionString)
 
 
@@ -60,7 +57,7 @@ setup(
     package_data={"photonlibpy": ["py.typed"]},
     version=versionString,
     install_requires=[
-        "numpy~=2.4",
+        "numpy~=2.3",
         "wpilib==2026.1.1",
         "robotpy-wpimath==2026.1.1",
         "robotpy-apriltag==2026.1.1",

scripts/rknn_conversion.ipynb

@@ -33,6 +33,27 @@
    ],
    "id": "500d656b7cc0ebd7"
   },
+  {
+   "metadata": {},
+   "cell_type": "markdown",
+   "source": [
+    "#### *Numpy Fix* - Important for Google Colab Users\n",
+    "\n",
+    "Google Colab comes with an incompatible version of Numpy installed. To fix this, please run the following cells below and **restart your session** when prompted."
+   ],
+   "id": "b3a9e1a334bce144"
+  },
+  {
+   "metadata": {},
+   "cell_type": "code",
+   "outputs": [],
+   "execution_count": null,
+   "source": [
+    "%pip uninstall numpy -y\n",
+    "%pip install \"numpy==1.26.4\""
+   ],
+   "id": "7156e69495f48f49"
+  },
   {
    "metadata": {},
    "cell_type": "markdown",
@@ -41,7 +62,7 @@
     "\n",
     "Please run the cell below to be able to use the `create_onnx` and `create_rknn` functions."
    ],
-   "id": "798298b1dbe33d2d"
+   "id": "51566ff74470e57"
   },
   {
    "metadata": {},
@@ -132,6 +153,7 @@
     "            os.path.join(ultralytics_folder_name_yolov5, \"requirements.txt\"),\n",
     "            \"torch<2.6.0\",\n",
     "            \"onnx==1.18.0\",\n",
+    "            \"numpy==1.26.4\",\n",
     "            \"onnxscript\",\n",
     "        ]\n",
     "    )\n",
@@ -172,7 +194,7 @@
     "def run_onnx_conversion_no_anchor(model_path):\n",
     "    check_or_clone_rockchip_repo(yolo_non_anchor_repo)\n",
     "    run_pip_install_or_else_exit(\n",
-    "        [\"-e\", ultralytics_default_folder_name, \"onnx==1.18.0\", \"onnxscript\"]\n",
+    "        [\"-e\", ultralytics_default_folder_name, \"onnx==1.18.0\", \"numpy==1.26.4\", \"onnxscript\"]\n",
     "    )\n",
     "\n",
     "    sys.path.insert(0, os.path.abspath(ultralytics_default_folder_name))\n",
@@ -384,28 +406,7 @@
     "    except SystemExit:\n",
     "        print(\"RKNN Conversion failed, see output above\")\n"
    ],
-   "id": "ea6869140a61126d"
-  },
-  {
-   "metadata": {},
-   "cell_type": "markdown",
-   "source": [
-    "#### *Numpy Fix* - Important for Google Colab Users\n",
-    "\n",
-    "Google Colab comes with an incompatible version of Numpy installed. To fix this, please run the following cells below and **restart your session** when prompted."
-   ],
-   "id": "b3a9e1a334bce144"
-  },
-  {
-   "metadata": {},
-   "cell_type": "code",
-   "outputs": [],
-   "execution_count": null,
-   "source": [
-    "%pip uninstall numpy -y\n",
-    "%pip install \"numpy>=1.23.0,<2.0.0\""
-   ],
-   "id": "7156e69495f48f49"
+   "id": "4d7a8adee7a03377"
   },
   {
    "metadata": {},