PhotonVision/.github/workflows/build.yml

name: Build

on:
  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
  push:
  pull_request:

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

env:
  IMAGE_VERSION: v2026.0.6

jobs:

  validation:
    name: "Validation"
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: gradle/actions/wrapper-validation@v4
  build-examples:

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: windows-2022
            architecture: x64
            artifact-name: Win64
          - os: macos-14
            architecture: aarch64
            artifact-name: macOS
          - os: ubuntu-24.04
            artifact-name: Linux

    name: "Photonlib - Build Examples - ${{ matrix.os }}"
    runs-on: ${{ matrix.os }}
    needs: [validation, build-photonlib-host, build-photonlib-docker]

    steps:
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Fetch tags
        run: git fetch --tags --force
      - name: Install Java 17
        uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: temurin
      - name: Install RoboRIO Toolchain
        run: ./gradlew installRoboRioToolchain
      - name: Delete duplicate toolchains
        run: |
          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
          du -h . | sort -h
        if: matrix.os == 'ubuntu-24.04'
      # Download prebuilt photonlib artifacts
      - uses: actions/download-artifact@v4
        with:
          name: maven-${{ matrix.artifact-name }}
      - uses: actions/download-artifact@v4
        with:
          name: maven-Athena
      - name: Move to maven local
        run: |
          mkdir -p ~/.m2/repository/
          mv maven/org ~/.m2/repository/
      - name: Copy vendordeps
        shell: bash
        run: |
          for vendordep_folder in photonlib-*-examples/*/; do
          # Remove trailing slash for cross-platform compatibility
            vendordep_folder="${vendordep_folder%/}"

            # Filter for projects only
            if [ -e "$vendordep_folder/build.gradle" ]; then
              mkdir -p "$vendordep_folder/vendordeps/"
              cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
            fi
          done
      - name: Build Java examples
        working-directory: photonlib-java-examples
        run: |
          ./gradlew build
          ./gradlew clean
      - name: Build C++ examples
        working-directory: photonlib-cpp-examples
        run: |
          ./gradlew build
          ./gradlew clean
  playwright-tests:
    name: "Playwright E2E tests"
    runs-on: ubuntu-24.04
    needs: [validation]
    steps:
      # Checkout code.
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Fetch tags
        run: git fetch --tags --force
      - name: Install Java 17
        uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: temurin
      - name: Install pnpm
        uses: pnpm/action-setup@v4
        with:
          version: 10
      - name: Setup Node.js
        uses: actions/setup-node@v4
        with:
          node-version: 22
      - name: Setup tests
        working-directory: photon-client
        run: |
          pnpm install
          pnpm test-setup
      - name: Prebuild Gradle
        run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
      - name: Run Playwright tests
        working-directory: photon-client
        run: pnpm test
      - uses: actions/upload-artifact@v4
        if: ${{ !cancelled() }}
        with:
          name: playwright-report
          path: photon-client/playwright-report/
          retention-days: 30
  build-gradle:
    name: "Gradle Build"
    runs-on: ubuntu-24.04
    needs: [validation]
    steps:
      # Checkout code.
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Fetch tags
        run: git fetch --tags --force
      - name: Install Java 17
        uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: temurin
      - name: Install pnpm
        uses: pnpm/action-setup@v4
        with:
          version: 10
      - name: Setup Node.js
        uses: actions/setup-node@v4
        with:
          node-version: 22
      - name: Gradle Build
        run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
      - name: Gradle Tests and Coverage
        run: ./gradlew test jacocoTestReport --stacktrace
  build-offline-docs:
    name: "Build Offline Docs"
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-python@v5
        with:
          python-version: '3.12'
      - name: Install graphviz
        run: |
          sudo apt-get update
          sudo apt-get -y install graphviz
      - name: Install dependencies
        working-directory: docs
        run: |
          python -m pip install --upgrade pip
          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
          pip install -r requirements.txt
      - name: Build the docs
        working-directory: docs
        run: |
          make html
      - uses: actions/upload-artifact@v4
        with:
          name: built-docs
          path: docs/build/html

  build-photonlib-vendorjson:
    name: "Build Vendor JSON"
    runs-on: ubuntu-24.04
    needs: [validation]
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0

      - name: Install Java 17
        uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: temurin

      # grab all tags
      - run: git fetch --tags --force

      # Generate the JSON and give it the ""standard""" name maven gives it
      - run: |
          ./gradlew photon-lib:generateVendorJson
          export VERSION=$(git describe --tags --match=v*)
          mv photon-lib/build/generated/vendordeps/photonlib.json photon-lib/build/generated/vendordeps/photonlib-$(git describe --tags --match=v*).json

      # Upload it here so it shows up in releases
      - uses: actions/upload-artifact@v4
        with:
          name: photonlib-vendor-json
          path: photon-lib/build/generated/vendordeps/photonlib-*.json

  build-photonlib-host:
    env:
      MACOSX_DEPLOYMENT_TARGET: 13
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: windows-2022
            artifact-name: Win64
            architecture: x64
          - os: macos-14
            artifact-name: macOS
            architecture: aarch64
          - os: ubuntu-24.04
            artifact-name: Linux

    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
    runs-on: ${{ matrix.os }}
    needs: [validation]
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Install Java 17
        uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: temurin
          architecture: ${{ matrix.architecture }}
      - run: git fetch --tags --force
      - run: ./gradlew photon-targeting:build photon-lib:build
        name: Build with Gradle
      - run: ./gradlew photon-lib:publish photon-targeting:publish
        name: Publish
        env:
          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
      # Copy artifacts to build/outputs/maven
      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
      - uses: actions/upload-artifact@v4
        with:
          name: maven-${{ matrix.artifact-name }}
          path: build/outputs

  build-photonlib-docker:
    strategy:
      fail-fast: false
      matrix:
        include:
          - container: wpilib/roborio-cross-ubuntu:2025-24.04
            artifact-name: Athena
            build-options: "-Ponlylinuxathena"
          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
            artifact-name: Raspbian
            build-options: "-Ponlylinuxarm32"
          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
            artifact-name: Aarch64
            build-options: "-Ponlylinuxarm64"

    runs-on: ubuntu-24.04
    container: ${{ matrix.container }}
    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
    needs: [validation]
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Config Git
        run: |
          git config --global --add safe.directory /__w/photonvision/photonvision
      - name: Build PhotonLib
        # We don't need to run tests, since we specify only non-native platforms
        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -x test
      - name: Publish
        run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
        env:
          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
      # Copy artifacts to build/outputs/maven
      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
      - uses: actions/upload-artifact@v4
        with:
          name: maven-${{ matrix.artifact-name }}
          path: build/outputs

  combine:
    name: Combine
    needs: [build-photonlib-docker, build-photonlib-host]
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - run: git fetch --tags --force
      # download all maven-* artifacts to outputs/
      - uses: actions/download-artifact@v7
        with:
          merge-multiple: true
          path: output
          pattern: maven-*
      - run: find .
      - run: zip -r photonlib-$(git describe --tags --match=v*).zip .
        name: ZIP stuff up
        working-directory: output
      - run: ls output
      - uses: actions/upload-artifact@v4
        with:
          name: photonlib-offline
          path: output/*.zip

  build-package:
    needs: [build-gradle, build-offline-docs]

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: windows-latest
            artifact-name: Win64
            architecture: x64
            arch-override: winx64
          - os: macos-latest
            artifact-name: macOS
            architecture: x64
            arch-override: macx64
          - os: macos-latest
            artifact-name: macOSArm
            architecture: x64
            arch-override: macarm64
          - os: ubuntu-24.04
            artifact-name: Linux
            architecture: x64
            arch-override: linuxx64
          - os: ubuntu-24.04
            artifact-name: LinuxArm64
            architecture: x64
            arch-override: linuxarm64

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

    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Install Java 17
        uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: temurin
          architecture: ${{ matrix.architecture }}
      - name: Install pnpm
        uses: pnpm/action-setup@v4
        with:
          version: 10
      - name: Setup Node.js
        uses: actions/setup-node@v4
        with:
          node-version: 22
          cache: pnpm
          cache-dependency-path: photon-client/pnpm-lock.yaml
      - name: Install Arm64 Toolchain
        run: ./gradlew installArm64Toolchain
        if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
      - uses: actions/download-artifact@v7
        with:
          name: built-docs
          path: photon-server/src/main/resources/web/docs
      - run: ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
        if: ${{ (matrix.arch-override != 'none') }}
      - run: ./gradlew photon-server:shadowJar
        if: ${{ (matrix.arch-override == 'none') }}
      - uses: actions/upload-artifact@v4
        with:
          name: jar-${{ matrix.artifact-name }}
          path: photon-server/build/libs
      - uses: actions/upload-artifact@v4
        with:
          name: photon-targeting_jar-${{ matrix.artifact-name }}
          path: photon-targeting/build/libs

  run-smoketest-native:
    needs: [build-package]

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-24.04
            artifact-name: jar-Linux
            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
          - os: windows-latest
            artifact-name: jar-Win64
          - os: macos-latest
            artifact-name: jar-macOS
            architecture: x64

    runs-on: ${{ matrix.os }}

    steps:
      - name: Install Java 17
        uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: temurin
      - uses: actions/download-artifact@v7
        with:
          name: ${{ matrix.artifact-name }}
      - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
        if: ${{ (matrix.os) != 'windows-latest' }}
      - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
        if: ${{ (matrix.os) == 'windows-latest' }}

  build-image:
    needs: [build-package]

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: RaspberryPi
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: limelight2
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: limelight3
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: limelight3G
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: limelight4
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: luma_p1
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_luma_p1.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: orangepi5
            plat_override: LINUX_RK3588_64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
            minimum_free_mb: 1024
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: orangepi5b
            plat_override: LINUX_RK3588_64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5b.img.xz
            minimum_free_mb: 1024
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: orangepi5plus
            plat_override: LINUX_RK3588_64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
            minimum_free_mb: 1024
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: orangepi5pro
            plat_override: LINUX_RK3588_64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5pro.img.xz
            minimum_free_mb: 1024
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: orangepi5max
            plat_override: LINUX_RK3588_64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
            minimum_free_mb: 1024
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            image_suffix: rock5c
            plat_override: LINUX_RK3588_64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
            minimum_free_mb: 1024
          - os: ubuntu-24.04-arm
            artifact-name: LinuxArm64
            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@v4
        with:
          fetch-depth: 0
      - uses: actions/download-artifact@v7
        with:
          name: jar-${{ matrix.artifact-name }}
      - 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: ${{ matrix.shrink_image || 'yes' }}
          commands: |
            chmod +x scripts/armrunner.sh
            ./scripts/armrunner.sh
            java -jar *.jar --smoketest --platform=${{ matrix.plat_override }}

      - 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}")
          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

  matrix-checker:
    runs-on: ubuntu-latest
    needs: [build-image]
    if: always()
    steps:
      - run: ${{!contains(needs.*.result, 'failure')}}

  release:
    needs: [build-photonlib-vendorjson, build-package, build-image, combine]
    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@v7
        with:
          merge-multiple: true
          pattern: jar-*
      # Download offline photonlib
      - uses: actions/download-artifact@v7
        with:
          merge-multiple: true
          pattern: photonlib-offline
      # Download vendor json
      - uses: actions/download-artifact@v7
        with:
          merge-multiple: true
          pattern: photonlib-vendor-json
      # Download all images
      - uses: actions/download-artifact@v7
        with:
          merge-multiple: true
          pattern: image-*

      - 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@main
        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')