Create photon-targeting-JNI framework #1659
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| name: Build | |
| on: | |
| # Run on pushes to master and pushed tags, and on pull requests against master, but ignore the docs folder | |
| push: | |
| branches: [ master ] | |
| tags: | |
| - 'v*' | |
| paths: | |
| - '**' | |
| - '!docs/**' | |
| - '.github/**' | |
| pull_request: | |
| branches: [ master ] | |
| paths: | |
| - '**' | |
| - '!docs/**' | |
| - '.github/**' | |
| jobs: | |
| build-client: | |
| name: "PhotonClient Build" | |
| defaults: | |
| run: | |
| working-directory: photon-client | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup Node.js | |
| uses: actions/setup-node@v4 | |
| with: | |
| node-version: 18 | |
| - name: Install Dependencies | |
| run: npm ci | |
| - name: Build Production Client | |
| run: npm run build | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| name: built-client | |
| path: photon-client/dist/ | |
| build-examples: | |
| name: "Build Examples" | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - name: Fetch tags | |
| run: git fetch --tags --force | |
| - name: Install RoboRIO Toolchain | |
| run: ./gradlew installRoboRioToolchain | |
| - name: Install Java 17 | |
| uses: actions/setup-java@v4 | |
| with: | |
| java-version: 17 | |
| distribution: temurin | |
| # Need to publish to maven local first, so that C++ sim can pick it up | |
| # Still haven't figured out how to make the vendordep file be copied before trying to build examples | |
| - name: Publish photonlib to maven local | |
| run: | | |
| chmod +x gradlew | |
| ./gradlew publishtomavenlocal -x check | |
| - name: Build Java examples | |
| working-directory: photonlib-java-examples | |
| run: | | |
| chmod +x gradlew | |
| ./gradlew copyPhotonlib -x check | |
| ./gradlew build -x check | |
| - name: Build C++ examples | |
| working-directory: photonlib-cpp-examples | |
| run: | | |
| chmod +x gradlew | |
| ./gradlew copyPhotonlib -x check | |
| ./gradlew build -x check | |
| build-gradle: | |
| name: "Gradle Build" | |
| runs-on: ubuntu-22.04 | |
| 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@v3 | |
| with: | |
| java-version: 17 | |
| distribution: temurin | |
| - name: Install mrcal deps | |
| run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5 | |
| - name: Gradle Build | |
| run: | | |
| chmod +x gradlew | |
| ./gradlew photon-targeting:build photon-core:build photon-server:build -x check | |
| - name: Gradle Tests | |
| run: ./gradlew testHeadless -i --stacktrace | |
| - name: Gradle Coverage | |
| run: ./gradlew jacocoTestReport | |
| - name: Publish Coverage Report | |
| uses: codecov/codecov-action@v3 | |
| with: | |
| file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml | |
| - name: Publish Core Coverage Report | |
| uses: codecov/codecov-action@v3 | |
| with: | |
| file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml | |
| build-offline-docs: | |
| name: "Build Offline Docs" | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.11' | |
| - 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-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-22.04 | |
| artifact-name: Linux | |
| name: "Photonlib - Build Host - ${{ matrix.artifact-name }}" | |
| runs-on: ${{ matrix.os }} | |
| 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: | | |
| chmod +x gradlew | |
| ./gradlew photon-targeting:build photon-lib:build -Pbuildalldesktop -i | |
| - run: ./gradlew photon-lib:publish photon-targeting:publish -Pbuildalldesktop | |
| name: Publish | |
| env: | |
| ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }} | |
| if: github.event_name == 'push' && github.repository_owner == 'photonvision' | |
| # Copy artifacts to build/outputs/maven | |
| - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts -Pbuildalldesktop | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| name: maven-${{ matrix.artifact-name }} | |
| path: build/outputs | |
| build-photonlib-docker: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - container: wpilib/roborio-cross-ubuntu:2024-22.04 | |
| 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-22.04 | |
| container: ${{ matrix.container }} | |
| name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}" | |
| 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: | | |
| chmod +x gradlew | |
| ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test | |
| - name: Publish | |
| run: | | |
| chmod +x gradlew | |
| ./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-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - run: git fetch --tags --force | |
| # download all maven-* artifacts to outputs/ | |
| - uses: actions/download-artifact@v4 | |
| 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-client, 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-latest | |
| artifact-name: Linux | |
| architecture: x64 | |
| arch-override: linuxx64 | |
| - os: ubuntu-latest | |
| 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 }} | |
| - run: | | |
| rm -rf photon-server/src/main/resources/web/* | |
| mkdir -p photon-server/src/main/resources/web/docs | |
| if: ${{ (matrix.os) != 'windows-latest' }} | |
| - run: | | |
| del photon-server\src\main\resources\web\*.* | |
| mkdir photon-server\src\main\resources\web\docs | |
| if: ${{ (matrix.os) == 'windows-latest' }} | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: built-client | |
| path: photon-server/src/main/resources/web/ | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: built-docs | |
| path: photon-server/src/main/resources/web/docs | |
| - run: | | |
| chmod +x gradlew | |
| ./gradlew photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }} | |
| if: ${{ (matrix.arch-override != 'none') }} | |
| - run: | | |
| chmod +x gradlew | |
| ./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 | |
| run-smoketest-native: | |
| needs: [build-package] | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: ubuntu-latest | |
| artifact-name: jar-Linux | |
| extraOpts: -Djdk.lang.Process.launchMechanism=vfork | |
| - os: windows-latest | |
| artifact-name: jar-Win64 | |
| extraOpts: "" | |
| - 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@v4 | |
| with: | |
| name: ${{ matrix.artifact-name }} | |
| # On linux, install mrcal packages | |
| - run: | | |
| sudo apt-get update | |
| sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5 | |
| if: ${{ (matrix.os) == 'ubuntu-latest' }} | |
| # and actually run the jar | |
| - 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' }} | |
| run-smoketest-chroot: | |
| needs: [build-package] | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: ubuntu-latest | |
| artifact-name: LinuxArm64 | |
| image_suffix: RaspberryPi | |
| image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_raspi.img.xz | |
| cpu: cortex-a7 | |
| image_additional_mb: 0 | |
| extraOpts: -Djdk.lang.Process.launchMechanism=vfork | |
| runs-on: ${{ matrix.os }} | |
| name: smoketest-${{ matrix.image_suffix }} | |
| steps: | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: jar-${{ matrix.artifact-name }} | |
| - uses: pguyot/arm-runner-action@v2 | |
| name: Run photon smoketest | |
| id: generate_image | |
| with: | |
| base_image: ${{ matrix.image_url }} | |
| image_additional_mb: ${{ matrix.image_additional_mb }} | |
| optimize_image: yes | |
| cpu: ${{ matrix.cpu }} | |
| # We do _not_ wanna copy photon into the image. Bind mount instead | |
| bind_mount_repository: true | |
| # our image better have java installed already | |
| commands: | | |
| java -jar ${{ matrix.extraOpts }} *.jar --smoketest | |
| build-image: | |
| needs: [build-package] | |
| if: ${{ github.event_name != 'pull_request' }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: ubuntu-latest | |
| artifact-name: LinuxArm64 | |
| image_suffix: RaspberryPi | |
| image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_raspi.img.xz | |
| cpu: cortex-a7 | |
| image_additional_mb: 0 | |
| - os: ubuntu-latest | |
| artifact-name: LinuxArm64 | |
| image_suffix: limelight2 | |
| image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_limelight.img.xz | |
| cpu: cortex-a7 | |
| image_additional_mb: 0 | |
| - os: ubuntu-latest | |
| artifact-name: LinuxArm64 | |
| image_suffix: limelight3 | |
| image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_limelight3.img.xz | |
| cpu: cortex-a7 | |
| image_additional_mb: 0 | |
| - os: ubuntu-latest | |
| artifact-name: LinuxArm64 | |
| image_suffix: orangepi5 | |
| image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5.img.xz | |
| cpu: cortex-a8 | |
| image_additional_mb: 1024 | |
| - os: ubuntu-latest | |
| artifact-name: LinuxArm64 | |
| image_suffix: orangepi5b | |
| image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5b.img.xz | |
| cpu: cortex-a8 | |
| image_additional_mb: 1024 | |
| - os: ubuntu-latest | |
| artifact-name: LinuxArm64 | |
| image_suffix: orangepi5plus | |
| image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5plus.img.xz | |
| cpu: cortex-a8 | |
| image_additional_mb: 1024 | |
| - os: ubuntu-latest | |
| artifact-name: LinuxArm64 | |
| image_suffix: orangepi5pro | |
| image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5pro.img.xz | |
| cpu: cortex-a8 | |
| image_additional_mb: 1024 | |
| runs-on: ${{ matrix.os }} | |
| name: "Build image - ${{ matrix.image_url }}" | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: jar-${{ matrix.artifact-name }} | |
| - uses: pguyot/arm-runner-action@HEAD | |
| name: Generate image | |
| id: generate_image | |
| with: | |
| base_image: ${{ matrix.image_url }} | |
| image_additional_mb: ${{ matrix.image_additional_mb }} | |
| optimize_image: yes | |
| cpu: ${{ matrix.cpu }} | |
| # We do _not_ wanna copy photon into the image. Bind mount instead | |
| bind_mount_repository: true | |
| commands: | | |
| chmod +x scripts/armrunner.sh | |
| ./scripts/armrunner.sh | |
| - name: Compress image | |
| run: | | |
| new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar)) | |
| new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}") | |
| mv ${{ steps.generate_image.outputs.image }} $new_image_name | |
| sudo xz -T 0 -v $new_image_name | |
| - uses: actions/upload-artifact@v4 | |
| name: Upload image | |
| with: | |
| name: image-${{ matrix.image_suffix }} | |
| path: photonvision*.xz | |
| release: | |
| needs: [build-package, build-image, combine] | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| # Download all fat JARs | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| merge-multiple: true | |
| pattern: jar-* | |
| # Download offline photonlib | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| merge-multiple: true | |
| pattern: photonlib-offline | |
| # Download all images | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| merge-multiple: true | |
| pattern: image-* | |
| - run: find | |
| # Push to dev release | |
| - uses: pyTooling/Actions/releaser@r0 | |
| with: | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| tag: 'Dev' | |
| rm: true | |
| files: | | |
| **/*.xz | |
| **/*.jar | |
| **/photonlib*.json | |
| **/photonlib*.zip | |
| if: github.event_name == 'push' | |
| # Upload all jars and xz archives | |
| - uses: softprops/action-gh-release@v1 | |
| with: | |
| files: | | |
| **/*.xz | |
| **/*.jar | |
| **/photonlib*.json | |
| **/photonlib*.zip | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} |