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: v2027.0.0

jobs:

  validation:
    name: "Validation"
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v6
      - uses: gradle/actions/wrapper-validation@v5

  # build-examples:

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

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

  #     steps:
  #       - name: Checkout code
  #         uses: actions/checkout@v6
  #         with:
  #           fetch-depth: 0
  #       - name: Fetch tags
  #         run: git fetch --tags --force
  #       - uses: actions/setup-java@v5
  #         with:
  #           java-version: 25
  #           distribution: temurin
  #       - name: Install SystemCore Toolchain
  #         run: ./gradlew installSystemCoreToolchain
  #       - name: Delete duplicate toolchains
  #         run: |
  #           find ~/.gradle/cache/ -name *bookworm* -exec rm -rf {} +
  #           du -h . | sort -h
  #         if: matrix.os == 'ubuntu-24.04'
  #       # Download prebuilt photonlib artifacts
  #       - uses: actions/download-artifact@v7
  #         with:
  #           name: maven-${{ matrix.artifact-name }}
  #       - uses: actions/download-artifact@v7
  #         with:
  #           name: maven-SystemCore
  #       - name: Move to maven local
  #         run: |
  #           mkdir -p ~/.m2/repository/
  #           mv maven/org ~/.m2/repository/
  #       - name: Copy vendordeps
  #         shell: bash
  #         run: |
  #           for vendordep_folder in photonlib-*-examples/*/; do
  #           # Remove trailing slash for cross-platform compatibility
  #             vendordep_folder="${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

  typecheck-client:
    name: "Typecheck Client"
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout code
        uses: actions/checkout@v6
      - name: Install pnpm
        uses: pnpm/action-setup@v5
        with:
          version: 11
      - name: Setup Node.js
        uses: actions/setup-node@v6
        with:
          node-version: 24
          cache: pnpm
          cache-dependency-path: photon-client/pnpm-lock.yaml
      - name: Typecheck Client
        working-directory: photon-client
        run: |
          pnpm install --frozen-lockfile
          pnpm type-check
  playwright-tests:
    name: "Playwright E2E tests"
    runs-on: ubuntu-24.04
    needs: [validation]
    steps:
      - name: Checkout code
        uses: actions/checkout@v6
      - uses: actions/setup-java@v5
        with:
          java-version: 25
          distribution: temurin
      - uses: pnpm/action-setup@v5
        with:
          version: 11
      - uses: actions/setup-node@v6
        with:
          cache: pnpm
          cache-dependency-path: photon-client/pnpm-lock.yaml
          node-version: 24
      - 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@v7
        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:
      - name: Checkout code
        uses: actions/checkout@v6
        with:
          fetch-depth: 0
      - name: Fetch tags
        run: git fetch --tags --force
      - uses: actions/setup-java@v5
        with:
          java-version: 25
          distribution: temurin
      - uses: pnpm/action-setup@v5
        with:
          version: 11
      - uses: actions/setup-node@v6
        with:
          cache: pnpm
          cache-dependency-path: photon-client/pnpm-lock.yaml
          node-version: 24
      - 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@v6
      - uses: actions/setup-python@v6
        with:
          python-version: 3.14
      - 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@v7
        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@v6
        with:
          fetch-depth: 0

      - uses: actions/setup-java@v5
        with:
          java-version: 25
          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@v7
        with:
          archive: false
          path: photon-lib/build/generated/vendordeps/photonlib-*.json

  build-photonlib-host:
    env:
      MACOSX_DEPLOYMENT_TARGET: 14
    strategy:
      fail-fast: false
      matrix:
        include:
         - os: windows-2022
           artifact-name: Win64
         - os: macos-26
           artifact-name: macOS
         - os: ubuntu-24.04
           artifact-name: Linux

    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
    runs-on: ${{ matrix.os }}
    needs: [validation]
    steps:
      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
      - uses: actions/setup-java@v5
        with:
          java-version: 25
          distribution: temurin
      - 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: ${{ secrets.ARTIFACTORY_API_KEY }}
        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
      # Copy artifacts to build/outputs/maven
      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
      - uses: actions/upload-artifact@v7
        with:
          name: maven-${{ matrix.artifact-name }}
          path: build/outputs

  build-photonlib-docker:
    strategy:
      fail-fast: false
      matrix:
        include:
          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
            artifact-name: SystemCore
            build-options: "-Ponlylinuxsystemcore"
          - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
            artifact-name: Raspbian
            build-options: "-Ponlylinuxarm32"
          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
            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@v6
        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' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
      # Copy artifacts to build/outputs/maven
      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
      - uses: actions/upload-artifact@v7
        with:
          name: maven-${{ 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@v6
        with:
          fetch-depth: 0
      - run: git fetch --tags --force
      # download all maven-* artifacts to outputs/
      - uses: actions/download-artifact@v8
        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@v7
        with:
          name: photonlib-offline
          path: output/*.zip

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

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-24.04
            artifact-name: Linux
            arch-override: linuxx86-64
          - os: ubuntu-24.04
            artifact-name: LinuxArm64
            arch-override: linuxarm64

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

    steps: &build-package-steps
      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
      - uses: actions/setup-java@v5
        with:
          java-version: 25
          distribution: temurin
      - uses: pnpm/action-setup@v5
        with:
          version: 11
      - uses: actions/setup-node@v6
        with:
          node-version: 24
          cache: pnpm
          cache-dependency-path: photon-client/pnpm-lock.yaml
      - name: Install Arm64 Toolchain
        run: ./gradlew installArm64Toolchain
        if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
      - uses: actions/download-artifact@v8
        with:
          name: built-docs
          path: photon-server/src/main/resources/web/docs
      - run: ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
        if: ${{ (matrix.arch-override != 'none') }}
      - run: ./gradlew photon-server:shadowJar
        if: ${{ (matrix.arch-override == 'none') }}
      - uses: actions/upload-artifact@v7
        with:
          archive: false
          path: photon-server/build/libs
      - uses: actions/upload-artifact@v7
        with:
          name: photon-targeting_jar-${{ matrix.artifact-name }}
          path: photon-targeting/build/libs

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

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: macos-latest
            artifact-name: macOSArm
            arch-override: macarm64
          - os: macos-latest
            artifact-name: macOS
            arch-override: macx86-64

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

    steps: *build-package-steps

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

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: windows-2022
            artifact-name: Win
            arch-override: winx86-64

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

    steps: *build-package-steps

  run-smoketest-native:
    needs: [build-package-linux, build-package-macos, build-package-windows]

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-24.04
            artifact-name: photonvision-*-linuxx86-64.jar
            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
          - os: windows-2022
            artifact-name: photonvision-*-winx86-64.jar
          - os: macos-latest
            artifact-name: photonvision-*-macarm64.jar
          - os: ubuntu-24.04-arm
            artifact-name: photonvision-*-linuxarm64.jar


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

    steps:
      - uses: actions/setup-java@v5
        with:
          java-version: 25
          distribution: temurin
      - uses: actions/download-artifact@v8
        with:
          pattern: ${{ matrix.artifact-name }}
      # The jar is run twice to exercise different code paths.
      - run: |
          echo "=== First run ==="
          java -jar ${{ matrix.extraOpts }} *.jar --smoketest
          echo "=== Checking for files to corrupt ==="
          find ~ -type f \( -name "*.so" -o -name "*.dylib" \) | head -20
          if [ -d ~/.wpilib ]; then
            echo "~/.wpilib directory exists"
            echo "Contents of ~/.wpilib:"
            find ~/.wpilib -type f \( -name "*.so" -o -name "*.dylib" \) | head -10
            RANDOM_FILE=$(find ~/.wpilib -type f \( -name "*.so" -o -name "*.dylib" \) | sort -R | head -n 1)
            if [ ! -z "$RANDOM_FILE" ]; then
              echo "Corrupting file: $RANDOM_FILE"
              echo "corrupted data" > "$RANDOM_FILE"
            else
              echo "No .so or .dylib files found in ~/.wpilib"
            fi
          else
            echo "~/.wpilib directory does not exist"
          fi
          echo "=== Second run ==="
          java -jar ${{ matrix.extraOpts }} *.jar --smoketest
        if: ${{ (matrix.os) != 'windows-2022' }}
      - run: |
          ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
          ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
        if: ${{ (matrix.os) == 'windows-2022' }}

  build-image:
    needs: [build-package-linux]

    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-24.04-arm
            image_suffix: RaspberryPi
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            image_suffix: limelight2
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            image_suffix: limelight3
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            image_suffix: limelight3G
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            image_suffix: limelight4
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
            minimum_free_mb: 100
          - os: ubuntu-24.04-arm
            image_suffix: luma_p1
            plat_override: LINUX_RASPBIAN64
            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$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: rubikpi3
            cache: 'yes'
            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@v2.0.0
        name: Generate image
        id: generate_image
        with:
          image_url: ${{ matrix.image_url }}
          use_cache: ${{ matrix.cache || 'no' }}
          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')