allwpilib/.github/workflows/tools.yml

name: Tools

on: [pull_request, push]

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

env:
  YEAR: 2025

jobs:
  build-artifacts:
    name: "Build - WPILib"
    runs-on: ubuntu-22.04
    env:
      DISPLAY: ':10'
    steps:
      - name: Free Disk Space
        uses: jlumbroso/free-disk-space@main
        with:
          tool-cache: false
          android: true
          dotnet: true
          haskell: true
          large-packages: false
          docker-images: false
          swap-storage: false
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - uses: gradle/actions/wrapper-validation@v4
      - name: Build WPILib with Gradle
        uses: addnab/docker-run-action@v3
        with:
          image: wpilib/roborio-cross-ubuntu:2025-22.04
          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
      - uses: actions/upload-artifact@v4
        with:
          name: MavenArtifacts
          path: |
            development
          retention-days: 1

  Robotbuilder:
    name: "Build - RobotBuilder"
    needs: [build-artifacts]
    runs-on: ubuntu-22.04
    env:
      DISPLAY: ':10'
    steps:
      - uses: actions/checkout@v4
        with:
          repository: wpilibsuite/robotbuilder
          fetch-depth: 0
      - uses: actions/download-artifact@v4
        with:
          name: MavenArtifacts
      - name: Patch RobotBuilder to use local development
        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.maven.useLocal = false" >> cpp/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> cpp/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> cpp/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> cpp/build.gradle
      - name: Install and run xvfb
        run: sudo apt-get update && sudo apt-get install -y xvfb && Xvfb $DISPLAY &
      - name: Move artifacts
        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
      - uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: 'temurin'
      - name: Build RobotBuilder with Gradle
        run: ./gradlew build test --tests 'robotbuilder.exporters.*' -x htmlSanityCheck -PbuildServer -PreleaseMode ; cat build/test-results/test/TEST-robotbuilder.exporters.*.xml ;
      - name: Summarize RobotBuilder Test Results
        uses: EnricoMi/publish-unit-test-result-action@v2
        if: always()
        with:
          files: |
            build/test-results/test/TEST*.xml
          check_run: false
          comment_mode: off
      - uses: actions/upload-artifact@v4
        if: always()
        with:
          name: RobotBuilderTestResults
          path: |
            build/reports/
      - uses: actions/upload-artifact@v4
        with:
          name: RobotBuilder Build
          path: |
            build/libs/
          retention-days: 7

  Shuffleboard:
    name: "Build - Shuffleboard"
    needs: [build-artifacts]
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v4
        with:
          repository: wpilibsuite/shuffleboard
          fetch-depth: 0
      - name: Patch Shuffleboard to use local development
        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" app/app.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/cameraserver/cameraserver.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/networktables/networktables.gradle
      - uses: actions/download-artifact@v4
        with:
          name: MavenArtifacts
      - uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: 'temurin'
      - name: Move artifacts
        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
      - name: Install dependencies
        run: sudo apt-get install -y libgtk2.0-0
      - name: Build with Gradle
        run: ./gradlew build -x Javadoc
      - uses: actions/upload-artifact@v4
        with:
          name: Shuffleboard Build
          path: |
            build/allOutputs/
          retention-days: 7

  PathWeaver:
    name: "Build - PathWeaver"
    needs: [build-artifacts]
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v4
        with:
          repository: wpilibsuite/PathWeaver
          fetch-depth: 0
      - name: Patch PathWeaver to use local development
        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" dependencies.gradle
      - uses: actions/download-artifact@v4
        with:
          name: MavenArtifacts
      - uses: actions/setup-java@v4
        with:
          java-version: 17
          distribution: 'temurin'
      - name: Move artifacts
        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
      - name: Build with Gradle
        run: ./gradlew build
      - uses: actions/upload-artifact@v4
        with:
          name: PathWeaver Build
          path: |
            build/allOutputs/
          retention-days: 7

  Robotpy:
    name: "Build - Robotpy"
    needs: [build-artifacts]
    runs-on: ubuntu-22.04
    steps:
    - uses: actions/checkout@v4
      with:
        repository: robotpy/mostrobotpy
        fetch-depth: 0
    - uses: actions/download-artifact@v4
      with:
        name: MavenArtifacts
    - name: Move artifacts
      run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development

    - uses: actions/setup-python@v5
      with:
        python-version: 3.13

    #
    # Setup build caching
    #

    - name: Set ccache size
      shell: bash
      id: ccache
      run: echo "MAX_SIZE=500M" >> $GITHUB_OUTPUT

    - name: Setup ccache
      # uses: hendrikmuhs/ccache-action@v1.2.10
      uses: robotpy/ccache-action@fork
      with:
          key: ubuntu-22.04-3.13
          variant: ccache
          max-size: ${{ steps.ccache.outputs.max_size }}

    - name: Install deps
      shell: bash
      run: |
        python -m pip --disable-pip-version-check install -r rdev_requirements.txt

    - name: Install numpy (needed for stubgen but broken in raspbian CI)
      shell: bash
      run: |
        python -m pip --disable-pip-version-check install numpy
    - name: Patch RobotPy rdev to use local development
      run: git config user.name github-actions && git config user.email github-actions@github.com && set -- ~/releases/maven/development/edu/wpi/first/wpiutil/wpiutil-cpp/*/ ; wpilibversion=$(basename $1) && echo $wpilibversion && sed --regexp-extended -i 's@(wpilib_bin_url =).*@\1 \"file:\/\/'"$HOME"'\/releases\/maven\/development"@' rdev.toml && sed --regexp-extended -i 's/(wpilib_bin_version =).*/\1 \"'"$wpilibversion"'\"/' rdev.toml && ./rdev.sh update-pyproject --commit
    - name: Build + test wheels
      shell: bash
      run: |
        ./rdev.sh ci run
      env:
        RPYBUILD_STRIP_LIBPYTHON: "1"
        RPYBUILD_CC_LAUNCHER: ccache