Add GitHub Actions workflows for build and release

.github/workflows/build.yml

@@ -0,0 +1,75 @@
+name: Build
+
+on:
+  push:
+    branches:
+      - 'main'
+  pull_request:
+    branches:
+      - '*'
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  build:
+    timeout-minutes: 15
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            container: ''
+            name: windows64
+    name: "build-${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    container: ${{ matrix.container }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.sha }}
+
+      - name: Setup Java
+        uses: actions/setup-java@v3
+        with:
+          distribution: 'zulu'
+          java-version: 11
+
+      - name: Cache
+        uses: actions/cache@v3
+        with:
+          path: |
+            .gradle
+            bin
+            build
+          key: ${{ matrix.name }}-build-${{ github.sha }}
+          restore-keys: |
+            ${{ matrix.name }}-build-
+
+      - name: Publish
+        run: |
+          ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode
+
+      # Put release files together in one directory
+      - name: Create Artifact
+        run: |
+          mkdir CANBridge-artifacts
+          cp -r build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib
+          cp -r build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.dll
+          cp -r build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib
+
+      # Upload build artifact
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: CANBridge-${{ github.sha }}
+          path: CANBridge-artifacts/
+
+      # Upload version.txt
+      - name: Upload version artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: version
+          path: build/allOutputs/version.txt

.github/workflows/release.yml

@@ -0,0 +1,71 @@
+name: Create release
+
+on:
+  push:
+    tags:
+      - 'v*'
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  check-versions:
+    runs-on: ubuntu-latest
+    outputs:
+      TAG_NAME: ${{ env.TAG_NAME }}
+      VERSION: ${{ steps.get_version.outputs.version }}
+    steps:
+      - name: Get tag name
+        run: |
+          echo "TAG_NAME=${GITHUB_REF#refs/*/}" >> $GITHUB_ENV
+
+      # Download artifacts from build workflow
+      - name: Download workflow artifacts
+        uses: dawidd6/action-download-artifact@v2
+        with:
+          workflow: build.yml
+          commit: ${{ github.sha }}
+          path: '.'
+
+      # Get publish.gradle version
+      - name: Get publish.gradle version
+        id: get_version
+        run: |
+          echo "version=$(cat version/version.txt)" >> $GITHUB_OUTPUT
+          echo "expectedTagName=v$(cat version/version.txt)" >> $GITHUB_OUTPUT
+
+      # Check publish.gradle version
+      - name: publish.gradle version check FAILED
+        if: ${{ steps.get_version.outputs.expectedTagName != env.TAG_NAME }}
+        run: |
+          echo Tag name: ${{ env.TAG_NAME }}
+          echo publish.gradle version: ${{ steps.get_version.outputs.version }}
+          exit 1
+
+  prepare-release:
+    runs-on: ubuntu-latest
+    needs: check-versions
+    steps:
+      # Download API, docs, and version.txt
+      - name: Download workflow artifacts
+        uses: dawidd6/action-download-artifact@v2
+        with:
+          workflow: build.yml
+          commit: ${{ github.sha }}
+          path: './artifacts'
+
+      # Create new release draft
+      - name: Create release
+        id: create_release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          VERSION=${{ needs.check-versions.outputs.version }}
+          TAG=v$VERSION
+          gh release create $TAG --draft --title "Version $VERSION"
+
+          echo "Sleep after creating release to avoid race condition"
+          sleep 5
+
+          gh release upload $TAG CANBridge-${{ github.sha }}/*

README.md

@@ -1,8 +1,8 @@
-# RoboRIO SDK Readme
+# CANBridge
 
 ## Overview
 
-This respository is for the CANBridge software that is run on non-roboRIO platforms. 
+This repository is for the CANBridge software that is run on non-roboRIO platforms.
 
 ## Build Requirements
 
@@ -15,16 +15,28 @@ All of these, excluding Git, can be installed and configured with the [WPILib In
 
 ## Building and Publishing
 
-Build and publish steps are done using the Gradle wrapper, `gradlew`. The Gradle wrapper is located in the root of the project, so Gradle commands must be run from there. 
+Building is done using the Gradle wrapper, `gradlew`. The Gradle wrapper is located in the root of the project, so Gradle commands must be run from there. 
 
 1. Clone this repository and open in VS Code
    - When VS Code first opens, select `Add workspace folder...` underneath `Start` on the Welcome Screen
 2. Open the VS Code terminal
    -  `View -> Terminal` or ``Ctrl+` ``
 3. Run `./gradlew build` from root
-4. Run `./gradlew publish` from root
 
-The output folders will be generated under `~\releases\maven\`.
+The output is placed at `~\releases\maven\release\com\revrobotics\usb\CANBridge-cpp\<version>\`.
+
+### Publishing a new version
+
+Before publishing a new version, run `./gradlew build` locally to run the tests. GitHub Actions
+cannot run the tests because they depend on having a USB CAN device connected.
+
+1. Bump the version number in `publish.gradle` and `CANBridge.json`
+2. Commit the version bump
+3. Create a new tag named `vX.X.X` at that commit
+4. Push the tag to GitHub
+5. Wait for the draft release to be created
+6. Add release notes to the draft release
+7. Publish the draft release
 
 ## Changelog
 

build.gradle

@@ -3,9 +3,9 @@ plugins {
   id 'cpp'
   id 'java'
   id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-  id 'edu.wpi.first.NativeUtils' version '2020.7.2'
-  id 'edu.wpi.first.GradleJni' version '0.10.1'
-  id 'edu.wpi.first.GradleVsCode' version '0.12.0'
+  id 'edu.wpi.first.NativeUtils' version '2023.11.1'
+  id 'edu.wpi.first.GradleJni' version '1.1.0'
+  id 'edu.wpi.first.GradleVsCode' version '1.3.0'
   id 'google-test-test-suite'
 }
 
@@ -99,8 +99,8 @@ model {
 
       binaries.all {
         if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio
-            || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian
-            || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+            || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32
+            || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
           it.buildable = false
         }
         // lib library: "SparkMaxDriver", linkage: 'shared'
@@ -113,5 +113,5 @@ model {
 apply from: 'publish.gradle'
 
 wrapper {
-  gradleVersion = '6.0.1'
+  gradleVersion = '7.5.1'
 }

config.gradle

@@ -1,16 +1,13 @@
-import org.gradle.internal.os.OperatingSystem
-
 nativeUtils.addWpiNativeUtils()
-nativeUtils.withRoboRIO()
-nativeUtils.withRaspbian()
-nativeUtils.withBionic()
+nativeUtils.withCrossRoboRIO()
+nativeUtils.withCrossLinuxArm32()
+nativeUtils.withCrossLinuxArm64()
 nativeUtils {
   wpi {
     configureDependencies {
-      wpiVersion = "2020.+"
-      niLibVersion = "2020.9.1"
-      opencvVersion = "3.4.7-2"
-      googleTestVersion = "1.9.0-3-437e100"
+      wpiVersion = "2023.+"
+      niLibVersion = "2023.3.0"
+      googleTestVersion = "1.11.0-3"
     }
   }
 }

dependencies.gradle

@@ -1,9 +1,2 @@
 dependencies {
-    implementation 'edu.wpi.first.cscore:cscore-java:2020.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2020.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2020.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2020.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2020.+'
-    implementation 'edu.wpi.first.hal:hal-java:2020.+'
-    implementation 'edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2'
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

publish.gradle

@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '2.0.1'
+def pubVersion = '2.1.0'
 
 def outputsFolder = file("$buildDir/allOutputs")
 

src/main/native/include/rev/Drivers/DriverDeviceThread.h

@@ -235,4 +235,4 @@ class DriverDeviceThread {
 
 
 } // namespace usb
-} // namespace rev
+} // namespace rev

src/test/gtest/cpp/MockDS.cpp

@@ -13,7 +13,7 @@
 #include <wpi/Logger.h>
 #include <wpi/SmallString.h>
 #include <wpi/SmallVector.h>
-#include <wpi/UDPClient.h>
+#include <wpinet/UDPClient.h>
 #include <wpi/raw_ostream.h>
 
 #include <iostream>
@@ -28,16 +28,17 @@ static void LoggerFunc(unsigned int level, const char* file, unsigned int line,
     return;
   }
 
-  wpi::StringRef levelmsg;
+  oss << "DS: ";
+
   if (level >= 50)
-    levelmsg = "CRITICAL: ";
+    oss << "CRITICAL: ";
   else if (level >= 40)
-    levelmsg = "ERROR: ";
+    oss << "ERROR: ";
   else if (level >= 30)
-    levelmsg = "WARNING: ";
+    oss << "WARNING: ";
   else
     return;
-  oss << "DS: " << levelmsg << msg << " (" << file << ':' << line << ")\n";
+  oss << msg << " (" << file << ":" << std::to_string(line) << ")\n";
   wpi::errs() << oss.str();
 }
 
@@ -102,4 +103,4 @@ void MockDS::enable() {
 
 void MockDS::disable() {
   m_enable = false;
-}
+}