mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
68fc1e7129
This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more. Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
670 lines
24 KiB
YAML
670 lines
24 KiB
YAML
name: Build
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on:
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# Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
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push:
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pull_request:
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concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
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cancel-in-progress: true
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env:
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IMAGE_VERSION: v2026.1.4
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jobs:
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validation:
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name: "Validation"
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v6
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- uses: gradle/actions/wrapper-validation@v5
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# build-examples:
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# strategy:
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# fail-fast: false
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# matrix:
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# include:
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# - os: windows-2022
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# artifact-name: Win64
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# - os: macos-14
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# artifact-name: macOS
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# - os: ubuntu-24.04
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# artifact-name: Linux
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# name: "Photonlib - Build Examples - ${{ matrix.os }}"
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# runs-on: ${{ matrix.os }}
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# needs: [build-photonlib-host, build-photonlib-docker]
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# steps:
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# - name: Checkout code
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# uses: actions/checkout@v6
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# with:
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# fetch-depth: 0
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# - name: Fetch tags
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# run: git fetch --tags --force
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# - uses: actions/setup-java@v5
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# with:
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# java-version: 21
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# distribution: temurin
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# - name: Install SystemCore Toolchain
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# run: ./gradlew installSystemCoreToolchain
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# - name: Delete duplicate toolchains
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# run: |
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# find ~/.gradle/cache/ -name *bookworm* -exec rm -rf {} +
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# du -h . | sort -h
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# if: matrix.os == 'ubuntu-24.04'
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# # Download prebuilt photonlib artifacts
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# - uses: actions/download-artifact@v7
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# with:
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# name: maven-${{ matrix.artifact-name }}
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# - uses: actions/download-artifact@v7
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# with:
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# name: maven-Athena
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# - name: Move to maven local
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# run: |
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# mkdir -p ~/.m2/repository/
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# mv maven/org ~/.m2/repository/
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# - name: Copy vendordeps
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# shell: bash
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# run: |
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# for vendordep_folder in photonlib-*-examples/*/; do
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# # Remove trailing slash for cross-platform compatibility
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# vendordep_folder="${vendordep_folder%/}"
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# # Filter for projects only
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# if [ -e "$vendordep_folder/build.gradle" ]; then
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# mkdir -p "$vendordep_folder/vendordeps/"
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# cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
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# fi
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# done
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# - name: Build Java examples
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# working-directory: photonlib-java-examples
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# run: |
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# ./gradlew build
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# ./gradlew clean
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# - name: Build C++ examples
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# working-directory: photonlib-cpp-examples
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# run: |
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# ./gradlew build
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# ./gradlew clean
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playwright-tests:
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name: "Playwright E2E tests"
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runs-on: ubuntu-24.04
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needs: [validation]
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steps:
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# Checkout code.
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- name: Checkout code
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uses: actions/checkout@v6
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with:
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fetch-depth: 0
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- name: Fetch tags
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run: git fetch --tags --force
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- uses: actions/setup-java@v5
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with:
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java-version: 21
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distribution: temurin
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- name: Install pnpm
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uses: pnpm/action-setup@v5
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with:
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version: 10
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- name: Setup Node.js
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uses: actions/setup-node@v6
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with:
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node-version: 22
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- name: Setup tests
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working-directory: photon-client
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run: |
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pnpm install
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pnpm test-setup
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- name: Prebuild Gradle
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run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
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- name: Run Playwright tests
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working-directory: photon-client
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run: pnpm test
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- uses: actions/upload-artifact@v7
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if: ${{ !cancelled() }}
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with:
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archive: false
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path: photon-client/playwright-report/
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retention-days: 30
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build-gradle:
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name: "Gradle Build"
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runs-on: ubuntu-24.04
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needs: [validation]
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steps:
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# Checkout code.
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- name: Checkout code
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uses: actions/checkout@v6
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with:
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fetch-depth: 0
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- name: Fetch tags
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run: git fetch --tags --force
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- uses: actions/setup-java@v5
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with:
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java-version: 21
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distribution: temurin
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- name: Install pnpm
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uses: pnpm/action-setup@v5
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with:
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version: 10
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- name: Setup Node.js
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uses: actions/setup-node@v6
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with:
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node-version: 22
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- name: Gradle Build
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run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
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- name: Gradle Tests and Coverage
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run: ./gradlew test jacocoTestReport --stacktrace
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build-offline-docs:
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name: "Build Offline Docs"
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v6
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- uses: actions/setup-python@v6
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with:
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python-version: 3.14
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- name: Install graphviz
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run: |
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sudo apt-get update
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sudo apt-get -y install graphviz
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- name: Install dependencies
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working-directory: docs
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run: |
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python -m pip install --upgrade pip
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pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
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pip install -r requirements.txt
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- name: Build the docs
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working-directory: docs
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run: |
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make html
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- uses: actions/upload-artifact@v7
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with:
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name: built-docs
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path: docs/build/html
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build-photonlib-vendorjson:
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name: "Build Vendor JSON"
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runs-on: ubuntu-24.04
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needs: [validation]
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steps:
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- uses: actions/checkout@v6
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with:
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fetch-depth: 0
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- uses: actions/setup-java@v5
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with:
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java-version: 21
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distribution: temurin
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# grab all tags
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- run: git fetch --tags --force
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# Generate the JSON and give it the ""standard""" name maven gives it
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- run: |
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./gradlew photon-lib:generateVendorJson
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export VERSION=$(git describe --tags --match=v*)
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mv photon-lib/build/generated/vendordeps/photonlib.json photon-lib/build/generated/vendordeps/photonlib-$(git describe --tags --match=v*).json
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# Upload it here so it shows up in releases
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- uses: actions/upload-artifact@v7
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with:
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archive: false
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path: photon-lib/build/generated/vendordeps/photonlib-*.json
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build-photonlib-host:
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env:
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MACOSX_DEPLOYMENT_TARGET: 14
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: windows-2022
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artifact-name: Win64
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- os: macos-26
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artifact-name: macOS
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- os: ubuntu-24.04
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artifact-name: Linux
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name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
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runs-on: ${{ matrix.os }}
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needs: [validation]
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steps:
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- uses: actions/checkout@v6
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with:
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fetch-depth: 0
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- uses: actions/setup-java@v5
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with:
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java-version: 21
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distribution: temurin
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- run: git fetch --tags --force
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- run: ./gradlew photon-targeting:build photon-lib:build
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name: Build with Gradle
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- run: ./gradlew photon-lib:publish photon-targeting:publish
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name: Publish
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env:
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ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
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if: github.event_name == 'push' && github.repository_owner == 'photonvision' && github.ref == 'refs/heads/main'
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# Copy artifacts to build/outputs/maven
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- run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
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- uses: actions/upload-artifact@v7
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with:
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name: maven-${{ matrix.artifact-name }}
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path: build/outputs
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build-photonlib-docker:
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strategy:
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fail-fast: false
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matrix:
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include:
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- container: wpilib/systemcore-cross-ubuntu:2027-24.04
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artifact-name: SystemCore
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build-options: "-Ponlylinuxsystemcore"
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- container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
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artifact-name: Raspbian
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build-options: "-Ponlylinuxarm32"
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- container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
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artifact-name: Aarch64
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build-options: "-Ponlylinuxarm64"
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runs-on: ubuntu-24.04
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container: ${{ matrix.container }}
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name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
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needs: [validation]
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steps:
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- uses: actions/checkout@v6
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with:
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fetch-depth: 0
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- name: Config Git
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run: |
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git config --global --add safe.directory /__w/photonvision/photonvision
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- name: Build PhotonLib
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# We don't need to run tests, since we specify only non-native platforms
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run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -x test
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- name: Publish
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run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
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env:
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ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
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if: github.event_name == 'push' && github.repository_owner == 'photonvision' && github.ref == 'refs/heads/main'
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# Copy artifacts to build/outputs/maven
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- run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
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- uses: actions/upload-artifact@v7
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with:
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name: maven-${{ matrix.artifact-name }}
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path: build/outputs
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combine:
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name: Combine
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needs: [build-photonlib-docker, build-photonlib-host]
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v6
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with:
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fetch-depth: 0
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- run: git fetch --tags --force
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# download all maven-* artifacts to outputs/
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- uses: actions/download-artifact@v8
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with:
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merge-multiple: true
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path: output
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pattern: maven-*
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- run: find .
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- run: zip -r photonlib-$(git describe --tags --match=v*).zip .
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name: ZIP stuff up
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working-directory: output
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- run: ls output
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- uses: actions/upload-artifact@v7
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with:
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name: photonlib-offline
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path: output/*.zip
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build-package-linux:
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needs: [build-gradle, build-offline-docs]
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: ubuntu-24.04
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artifact-name: Linux
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arch-override: linuxx64
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- os: ubuntu-24.04
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artifact-name: LinuxArm64
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arch-override: linuxarm64
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runs-on: ${{ matrix.os }}
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name: "Build fat JAR - ${{ matrix.artifact-name }}"
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steps: &build-package-steps
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- uses: actions/checkout@v6
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with:
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fetch-depth: 0
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- uses: actions/setup-java@v5
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with:
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java-version: 21
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distribution: temurin
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- name: Install pnpm
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uses: pnpm/action-setup@v5
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with:
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version: 10
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- name: Setup Node.js
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uses: actions/setup-node@v6
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with:
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node-version: 22
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cache: pnpm
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cache-dependency-path: photon-client/pnpm-lock.yaml
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- name: Install Arm64 Toolchain
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run: ./gradlew installArm64Toolchain
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if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
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- uses: actions/download-artifact@v8
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with:
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name: built-docs
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path: photon-server/src/main/resources/web/docs
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- run: ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
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if: ${{ (matrix.arch-override != 'none') }}
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- run: ./gradlew photon-server:shadowJar
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if: ${{ (matrix.arch-override == 'none') }}
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- uses: actions/upload-artifact@v7
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with:
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archive: false
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path: photon-server/build/libs
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- uses: actions/upload-artifact@v7
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with:
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name: photon-targeting_jar-${{ matrix.artifact-name }}
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path: photon-targeting/build/libs
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build-package-macos:
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needs: [build-gradle, build-offline-docs]
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: macos-latest
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artifact-name: macOSArm
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arch-override: macarm64
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- os: macos-latest
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artifact-name: macOS
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arch-override: macx64
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runs-on: ${{ matrix.os }}
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name: "Build fat JAR - ${{ matrix.artifact-name }}"
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steps: *build-package-steps
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build-package-windows:
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needs: [build-gradle, build-offline-docs]
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: windows-latest
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artifact-name: Win64
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arch-override: winx64
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runs-on: ${{ matrix.os }}
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name: "Build fat JAR - ${{ matrix.artifact-name }}"
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steps: *build-package-steps
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run-smoketest-native:
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needs: [build-package-linux, build-package-macos, build-package-windows]
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: ubuntu-24.04
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artifact-name: photonvision-*-linuxx64.jar
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extraOpts: -Djdk.lang.Process.launchMechanism=vfork
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- os: windows-latest
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artifact-name: photonvision-*-winx64.jar
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- os: macos-latest
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artifact-name: photonvision-*-macarm64.jar
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- os: ubuntu-24.04-arm
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artifact-name: photonvision-*-linuxarm64.jar
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runs-on: ${{ matrix.os }}
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steps:
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- uses: actions/setup-java@v5
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with:
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java-version: 21
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distribution: temurin
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- uses: actions/download-artifact@v8
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with:
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pattern: ${{ matrix.artifact-name }}
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# The jar is run twice to exercise different code paths.
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- run: |
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echo "=== First run ==="
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java -jar ${{ matrix.extraOpts }} *.jar --smoketest
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echo "=== Checking for files to corrupt ==="
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find ~ -type f \( -name "*.so" -o -name "*.dylib" \) | head -20
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if [ -d ~/.wpilib ]; then
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echo "~/.wpilib directory exists"
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echo "Contents of ~/.wpilib:"
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find ~/.wpilib -type f \( -name "*.so" -o -name "*.dylib" \) | head -10
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RANDOM_FILE=$(find ~/.wpilib -type f \( -name "*.so" -o -name "*.dylib" \) | sort -R | head -n 1)
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if [ ! -z "$RANDOM_FILE" ]; then
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echo "Corrupting file: $RANDOM_FILE"
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echo "corrupted data" > "$RANDOM_FILE"
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else
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echo "No .so or .dylib files found in ~/.wpilib"
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fi
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else
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echo "~/.wpilib directory does not exist"
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fi
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echo "=== Second run ==="
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java -jar ${{ matrix.extraOpts }} *.jar --smoketest
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if: ${{ (matrix.os) != 'windows-latest' }}
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- run: |
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ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
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ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
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if: ${{ (matrix.os) == 'windows-latest' }}
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|
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build-image:
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needs: [build-package-linux]
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|
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: ubuntu-24.04-arm
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image_suffix: RaspberryPi
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plat_override: LINUX_RASPBIAN64
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image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
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minimum_free_mb: 100
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- os: ubuntu-24.04-arm
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image_suffix: limelight2
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plat_override: LINUX_RASPBIAN64
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image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
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minimum_free_mb: 100
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- os: ubuntu-24.04-arm
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image_suffix: limelight3
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plat_override: LINUX_RASPBIAN64
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image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
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minimum_free_mb: 100
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- os: ubuntu-24.04-arm
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image_suffix: limelight3G
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plat_override: LINUX_RASPBIAN64
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image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
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minimum_free_mb: 100
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- os: ubuntu-24.04-arm
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image_suffix: limelight4
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plat_override: LINUX_RASPBIAN64
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image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
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minimum_free_mb: 100
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: luma_p1
|
|
plat_override: LINUX_RASPBIAN64
|
|
image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_luma_p1.img.xz
|
|
minimum_free_mb: 100
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: orangepi5
|
|
plat_override: LINUX_RK3588_64
|
|
image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
|
|
minimum_free_mb: 1024
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: orangepi5b
|
|
plat_override: LINUX_RK3588_64
|
|
image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5b.img.xz
|
|
minimum_free_mb: 1024
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: orangepi5plus
|
|
plat_override: LINUX_RK3588_64
|
|
image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
|
|
minimum_free_mb: 1024
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: orangepi5pro
|
|
plat_override: LINUX_RK3588_64
|
|
image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5pro.img.xz
|
|
minimum_free_mb: 1024
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: orangepi5max
|
|
plat_override: LINUX_RK3588_64
|
|
image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
|
|
minimum_free_mb: 1024
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: rock5c
|
|
plat_override: LINUX_RK3588_64
|
|
image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
|
|
minimum_free_mb: 1024
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: orangepi6plus
|
|
plat_override: LINUX_AARCH64
|
|
image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi6plus.img.xz
|
|
minimum_free_mb: 1024
|
|
- os: ubuntu-24.04-arm
|
|
image_suffix: rubikpi3
|
|
plat_override: LINUX_QCS6490
|
|
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 }}"
|
|
|
|
steps:
|
|
- name: Checkout code
|
|
uses: actions/checkout@v6
|
|
with:
|
|
fetch-depth: 0
|
|
- uses: actions/download-artifact@v8
|
|
with:
|
|
pattern: photonvision-*-linuxarm64.jar
|
|
- uses: photonvision/photon-image-runner@HEAD
|
|
name: Generate image
|
|
id: generate_image
|
|
with:
|
|
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: ./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 -kv $new_image_name
|
|
echo "smoketest_image_loc=${new_image_name}" >> $GITHUB_ENV
|
|
|
|
- name: Tar built image (Rubik)
|
|
# Build the RubikPi3-specific tar file
|
|
if: ${{ startsWith(matrix.image_suffix, 'rubik') }}
|
|
run: |
|
|
set -ex
|
|
new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
|
|
tardir=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
|
|
imagedir=$(dirname ${{ steps.generate_image.outputs.image }})
|
|
sudo mkdir --parents ${tardir}
|
|
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 }}" >> $GITHUB_ENV
|
|
|
|
- uses: actions/upload-artifact@v7
|
|
with:
|
|
archive: false
|
|
path: photonvision*.xz
|
|
|
|
# This is done after uploading the image to avoid contaminating the image with logs, caches, etc.
|
|
- uses: photonvision/photon-image-runner@HEAD
|
|
name: Smoketest Image
|
|
with:
|
|
image_url: file://${{ 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.
|
|
runs-on: ubuntu-latest
|
|
needs: [build-image]
|
|
if: always()
|
|
steps:
|
|
- run: ${{!contains(needs.*.result, 'failure')}}
|
|
|
|
release:
|
|
# Require smoketest-native so that if those fail, we don't release broken artifacts
|
|
needs: [build-photonlib-vendorjson, build-image, combine, build-package-linux, build-package-macos, build-package-windows, run-smoketest-native]
|
|
if: (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) && github.repository == 'PhotonVision/photonvision'
|
|
runs-on: ubuntu-24.04
|
|
steps:
|
|
# Download all fat JARs
|
|
- uses: actions/download-artifact@v8
|
|
with:
|
|
merge-multiple: true
|
|
pattern: photonvision-*.jar
|
|
# Download offline photonlib
|
|
- uses: actions/download-artifact@v8
|
|
with:
|
|
merge-multiple: true
|
|
pattern: photonlib-offline
|
|
# Download vendor json
|
|
- uses: actions/download-artifact@v8
|
|
with:
|
|
pattern: photonlib-*.json
|
|
# Download all images
|
|
- uses: actions/download-artifact@v8
|
|
with:
|
|
merge-multiple: true
|
|
pattern: photonvision-*.xz
|
|
|
|
- run: find
|
|
# Push to dev release
|
|
- uses: pyTooling/Actions/releaser@r6
|
|
with:
|
|
token: ${{ secrets.GITHUB_TOKEN }}
|
|
tag: 'Dev'
|
|
rm: true
|
|
snapshots: false
|
|
files: |
|
|
**/*.xz
|
|
**/*linux*.jar
|
|
**/*win*.jar
|
|
**/photonlib*.json
|
|
**/photonlib*.zip
|
|
if: github.event_name == 'push'
|
|
- name: Create Vendor JSON Repo PR
|
|
uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
|
|
with:
|
|
repo: PhotonVision/vendor-json-repo
|
|
token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
|
|
vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
|
|
pr_title: Update photonlib to ${{ github.ref_name }}
|
|
pr_branch: photonlib-${{ github.ref_name }}
|
|
if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')
|