main.yml

# This workflow builds the client (UI), the server, builds the JAR.

name: CI

# Controls when the action will run. Triggers the workflow on push or pull request
# events but only for the master branch
on:
  push:
    branches: [ master ]
    tags:
      - 'v*'
  pull_request:
    branches: [ master ]
  merge_group:

jobs:
  # This job builds the client (web view).
  photonclient-build:

    # Let all steps run within the photon-client dir.
    defaults:
      run:
        working-directory: photon-client

    # The type of runner that the job will run on.
    runs-on: ubuntu-22.04

    steps:
    # Checkout code.
    - uses: actions/checkout@v3

    # Setup Node.js
    - name: Setup Node.js
      uses: actions/setup-node@v3
      with:
        node-version: 16

    # Run npm
    - run: npm update -g npm
    - run: npm ci
    - run: npm run build --if-present

    # Upload client artifact.
    - uses: actions/upload-artifact@master
      with:
        name: built-client
        path: photon-client/dist/

  photon-build-examples:
    runs-on: ubuntu-22.04
    name: "Build Examples"

    steps:
      # Checkout code.
      - name: Checkout code
        uses: actions/checkout@v3
        with:
          fetch-depth: 0

      # Fetch tags.
      - name: Fetch tags
        run: git fetch --tags --force

      # Install Java 17.
      - name: Install Java 17
        uses: actions/setup-java@v3
        with:
          java-version: 17
          distribution: temurin

      # Need to publish to maven local first, so that C++ sim can pick it up
      # Still haven't figure 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 buildAllExamples -x check --max-workers 2

      - name: Build C++ examples
        working-directory: photonlib-cpp-examples
        run: |
          chmod +x gradlew
          ./gradlew copyPhotonlib -x check
          ./gradlew buildAllExamples -x check --max-workers 2

  photon-build-all:
    # The type of runner that the job will run on.
    runs-on: ubuntu-22.04

    steps:
      # Checkout code.
      - name: Checkout code
        uses: actions/checkout@v3
        with:
          fetch-depth: 0

      # Fetch tags.
      - name: Fetch tags
        run: git fetch --tags --force

      # Install Java 17.
      - name: Install Java 17
        uses: actions/setup-java@v3
        with:
          java-version: 17
          distribution: temurin

      # Run only build tasks, no checks??
      - name: Gradle Build
        run: |
          chmod +x gradlew
          ./gradlew photon-server:build photon-lib:build -x check --max-workers 2

      # Run Gradle Tests.
      - name: Gradle Tests
        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace

      # Generate Coverage Report.
      - name: Gradle Coverage
        run: ./gradlew jacocoTestReport --max-workers 1

      # Publish Coverage Report.
      - name: Publish Server 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

  photonserver-build-offline-docs:
    runs-on: ubuntu-22.04

    steps:
      # Checkout docs.
      - uses: actions/checkout@v3
        with:
          repository: 'PhotonVision/photonvision-docs.git'
          ref: master

      # Install Python.
      - uses: actions/setup-python@v4
        with:
          python-version: '3.9'

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
          pip install -r requirements.txt

      # Don't check the docs. If a PR was merged to the docs repo, it ought to pass CI. No need to re-check here.
      # - name: Check the docs
      #   run: |
      #     make linkcheck
      #     make lint

      - name: Build the docs
        run: |
          make html

      # Upload docs artifact.
      - uses: actions/upload-artifact@master
        with:
          name: built-docs
          path: build/html

  photonserver-check-lint:
    # The type of runner that the job will run on.
    runs-on: ubuntu-22.04

    steps:
      # Checkout code.
      - uses: actions/checkout@v3
        with:
          fetch-depth: 0

      # Install Java 17.
      - uses: actions/setup-java@v3
        with:
          java-version: 17
          distribution: temurin

      # Check server code with Spotless.
      - run: |
          chmod +x gradlew
          ./gradlew spotlessCheck

  #  Building photonlib
  photonlib-build-host:
    env:
      MACOSX_DEPLOYMENT_TARGET: 10.14
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: windows-2022
            artifact-name: Win64
          # Mac builds are broken due to opencv class loading issues -- disable for now
          # - os: macos-11
          #   artifact-name: macOS
          - os: ubuntu-22.04
            artifact-name: Linux

    runs-on: ${{ matrix.os }}
    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
    steps:
      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
      - uses: actions/setup-java@v3
        with:
          java-version: 17
          distribution: temurin
      - run: git fetch --tags --force
      - run: |
          chmod +x gradlew
          ./gradlew photon-lib:build --max-workers 1
      - run: ./gradlew photon-lib:publish photon-targeting:publish
        name: Publish
        env:
          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
        if: github.event_name == 'push'

  photonlib-build-docker:
    strategy:
      fail-fast: false
      matrix:
        include:
          - container: wpilib/roborio-cross-ubuntu:2023-22.04
            artifact-name: Athena
          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
            artifact-name: Raspbian
          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
            artifact-name: Aarch64

    runs-on: ubuntu-22.04
    container: ${{ matrix.container }}
    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
    steps:
      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
      - name: Config Git
        run: |
          git config --global --add safe.directory /__w/photonvision/photonvision
      - name: Build PhotonLib
        run: |
          chmod +x gradlew
          ./gradlew photon-lib:build --max-workers 1
      - name: Publish
        run: |
          chmod +x gradlew
          ./gradlew photon-lib:publish
        env:
          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
        if: github.event_name == 'push'

  photonlib-wpiformat:
    name: "wpiformat"
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
      - name: Fetch all history and metadata
        run: |
          git fetch --prune --unshallow
          git checkout -b pr
          git branch -f master origin/master
      - name: Set up Python 3.8
        uses: actions/setup-python@v4
        with:
          python-version: 3.8
      - name: Install wpiformat
        run: pip3 install wpiformat
      - name: Run
        run: wpiformat
      - name: Check output
        run: git --no-pager diff --exit-code HEAD
      - name: Generate diff
        run: git diff HEAD > wpiformat-fixes.patch
        if: ${{ failure() }}
      - uses: actions/upload-artifact@v3
        with:
          name: wpiformat fixes
          path: wpiformat-fixes.patch
        if: ${{ failure() }}

  photon-build-package:
    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs]

    strategy:
        fail-fast: false
        matrix:
          include:
            - os: windows-latest
              artifact-name: Win64
              architecture: x64
              arch-override: none
            - os: macos-latest
              artifact-name: macOS
              architecture: x64
              arch-override: none
            - os: ubuntu-latest
              artifact-name: Linux
              architecture: x64
              arch-override: none
            - os: macos-latest
              artifact-name: macOSArm
              architecture: x64
              arch-override: macarm64
            - os: ubuntu-latest
              artifact-name: LinuxArm32
              architecture: x64
              arch-override: linuxarm32
            - os: ubuntu-latest
              artifact-name: LinuxArm64
              architecture: x64
              arch-override: linuxarm64

    # The type of runner that the job will run on.
    runs-on: ${{ matrix.os }}
    name: "Build fat JAR - ${{ matrix.artifact-name }}"

    steps:
      # Checkout code.
      - uses: actions/checkout@v3
        with:
          fetch-depth: 0

      # Install Java 17.
      - uses: actions/setup-java@v3
        with:
          java-version: 17
          distribution: temurin

      # Clear any existing web resources.
      - 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' }}

      # Download client artifact to resources folder.
      - uses: actions/download-artifact@v3
        with:
          name: built-client
          path: photon-server/src/main/resources/web/

      # Download docs artifact to resources folder.
      - uses: actions/download-artifact@v3
        with:
          name: built-docs
          path: photon-server/src/main/resources/web/docs

      # Build fat jar for both pi and everything
      - run: |
          chmod +x gradlew
          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
        if: ${{ (matrix.arch-override != 'none') }}
      - run: |
          chmod +x gradlew
          ./gradlew photon-server:shadowJar --max-workers 2
        if: ${{ (matrix.arch-override == 'none') }}

      # Upload final fat jar as artifact.
      - uses: actions/upload-artifact@v3
        with:
          name: jar-${{ matrix.artifact-name }}
          path: photon-server/build/libs


  photon-image-generator:
    needs: [photon-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://api.github.com/repos/photonvision/photon-pi-gen/releases/tags/v2023.1.3_arm64
            - os: ubuntu-latest
              artifact-name: LinuxArm64
              image_suffix: limelight2
              image_url: https://api.github.com/repos/photonvision/photon-pi-gen/releases/tags/v2023.2.2_limelight-arm64

    runs-on: ${{ matrix.os }}
    name: "Build image - ${{ matrix.image_url }}"

    steps:
      # Checkout code.
      - name: Checkout code
        uses: actions/checkout@v3
        with:
          fetch-depth: 0

      - uses: actions/download-artifact@v2
        with:
          name: jar-${{ matrix.artifact-name }}

      - name: Generate image
        run: |
          chmod +x scripts/generatePiImage.sh
          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}

      - uses: actions/upload-artifact@v3
        name: Upload image
        with:
          name: image-${{ matrix.image_suffix }}
          path: photonvision*.xz


  photon-release:
    needs: [photon-build-package, photon-image-generator]
    runs-on: ubuntu-22.04
    steps:
      # Download literally every single artifact. This also downloads client and docs,
      # but the filtering below won't pick these up (I hope)
      - uses: actions/download-artifact@v2

      - run: find

      # Push to dev release
      - uses: pyTooling/Actions/releaser@r0
        with:
          token: ${{ secrets.GITHUB_TOKEN }}
          tag: 'Dev'
          rm: true
          files: |
            **/*.xz
            **/*.jar
        if: github.event_name == 'push'

      # Upload all jars and xz archives
      - uses: softprops/action-gh-release@v1
        with:
          files: |
            **/*.xz
            **/*.jar
        if: startsWith(github.ref, 'refs/tags/v')
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}