build.yml

name: Build

on:
  [push, pull_request]

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

defaults:
  run:
    shell: bash

jobs:
  # Use native runners to build for Windows, Linux x86-64, and macOS; use WPI provided Docker images to build for Linux ARM32 and ARM64 platforms
  build:
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: windows-latest
            name: Win64
            build-options: ""
            platform-type: windowsx86-64
          - os: ubuntu-latest
            name: Linux64
            platform-type: linuxx86-64
            build-options: ""
          - os: macos-latest
            name: macOS
            platform-type: osxuniversal
            build-options: ""
          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
            os: ubuntu-latest
            name: LinuxARM64
            build-options: "-Ponlylinuxarm64"
            platform-type: linuxarm64
            arch: arm64
          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
            os: ubuntu-latest
            name: LinuxARM32
            build-options: "-Ponlylinuxarm32"
            platform-type: linuxarm32
            arch: arm32
    name: "Build - ${{ matrix.name }}"
    runs-on: ${{ matrix.os }}
    container: ${{ matrix.container }}
    steps:
      - name: Checkout
        uses: actions/checkout@v4
        with:
          ref: ${{ github.sha }}

      - name: Setup Java
        uses: actions/setup-java@v4
        with:
          distribution: 'zulu'
          java-version: 11

      - name: Setup Gradle
        uses: gradle/actions/setup-gradle@v4

      - name: Build
        run: |
          ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode

      - name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }}
        run : |
          halVersion=$(cat wpiHalVersion.txt)

          sharedHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
          sharedUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
          curl -L -o sharedHalPlatform.zip "$sharedHalPlatformUrl"
          curl -L -o sharedUtilPlatform.zip "$sharedUtilPlatformUrl"
          
          staticHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip
          staticUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip
          curl -L -o staticHalPlatform.zip "$staticHalPlatformUrl"
          curl -L -o staticUtilPlatform.zip "$staticUtilPlatformUrl"

      - name: Unzip WPILib HAL artifacts and headers
        run: |
          unzip sharedHalPlatform.zip -d sharedHalPlatform
          unzip sharedUtilPlatform.zip -d sharedUtilPlatform
          unzip staticHalPlatform.zip -d staticHalPlatform
          unzip staticUtilPlatform.zip -d staticUtilPlatform
          mkdir -p CANBridge-artifacts/static
          mkdir -p CANBridge-artifacts/shared

      # Put release files together in one directory based on platform
      - name: Create Artifact
        run: |
          mkdir -p CANBridge-artifacts
          if [[ "${{ matrix.platform-type }}" == "windowsx86-64" ]]; then
            cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/shared/
            cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/shared/
            cp sharedHalPlatform/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/shared/
            cp sharedHalPlatform/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/shared/
            cp sharedUtilPlatform/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/shared/
            cp sharedUtilPlatform/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/shared/
            
            cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/static/
            cp staticHalPlatform/windows/x86-64/static/wpiHal.lib CANBridge-artifacts/static/
            cp staticUtilPlatform/windows/x86-64/static/wpiutil.lib CANBridge-artifacts/static/
          elif [[ "${{ matrix.platform-type }}" == "linuxx86-64" ]]; then
            cp build/libs/cANBridge/shared/linuxx86-64/release/libCANBridge.so CANBridge-artifacts/shared/
            cp sharedHalPlatform/linux/x86-64/shared/libwpiHal.so CANBridge-artifacts/shared/
            cp sharedUtilPlatform/linux/x86-64/shared/libwpiutil.so CANBridge-artifacts/shared/
            
            cp build/libs/cANBridge/static/linuxx86-64/release/libCANBridge.a CANBridge-artifacts/static/
            cp staticHalPlatform/linux/x86-64/static/libwpiHal.a CANBridge-artifacts/static/
            cp staticUtilPlatform/linux/x86-64/static/libwpiutil.a CANBridge-artifacts/static/
          elif [[ "${{ matrix.platform-type }}" == "osxuniversal" ]]; then
            cp build/libs/cANBridge/shared/osxuniversal/release/libCANBridge.dylib CANBridge-artifacts/shared/
            cp sharedHalPlatform/osx/universal/shared/libwpiHal.dylib CANBridge-artifacts/shared/
            cp sharedUtilPlatform/osx/universal/shared/libwpiutil.dylib CANBridge-artifacts/shared
            
            cp build/libs/cANBridge/static/osxuniversal/release/libCANBridge.a CANBridge-artifacts/static/
            cp staticHalPlatform/osx/universal/static/libwpiHal.a CANBridge-artifacts/static/
            cp staticUtilPlatform/osx/universal/static/libwpiutil.a CANBridge-artifacts/static/
          elif [[ "${{ matrix.platform-type }}" == "linuxarm32" || "${{ matrix.platform-type }}" == "linuxarm64" ]]; then
            cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/shared/libCANBridge.so
            cp sharedHalPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/shared/libwpiHal.so
            cp sharedUtilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/shared/libwpiutil.so
            
            cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/static/libCANBridge.a
            cp staticHalPlatform/linux/${{ matrix.arch }}/static/libwpiHal.a CANBridge-artifacts/static/libwpiHal.a
            cp staticUtilPlatform/linux/${{ matrix.arch }}/static/libwpiutil.a CANBridge-artifacts/static/libwpiutil.a
          fi

      # Upload build artifact
      - name: Upload build artifact
        uses: actions/upload-artifact@v4
        with:
          name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}}
          path: CANBridge-artifacts/

  # Upload combined headers for WPILib from HAL and WPIUtil
  wpi-headers:
    runs-on: ubuntu-latest
    name: "WPILib Headers"
    steps:
      - name: Checkout
        uses: actions/checkout@v4
        with:
          ref: ${{ github.sha }}
      - name: Download WPILib HAL artifacts and headers
        run : |
          halVersion=$(cat wpiHalVersion.txt)

          halHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-headers.zip
          utilHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-headers.zip

          curl -L -o halHeaders.zip "$halHeadersUrl"
          curl -L -o utilHeaders.zip "$utilHeadersUrl"

      - name: Unzip WPILib HAL artifacts and headers
        run: |
          unzip halHeaders.zip -d halHeaders
          unzip utilHeaders.zip -d utilHeaders

      - name: Gather all needed headers
        run: |
          mkdir headers-for-artifact
          cp -r halHeaders/hal headers-for-artifact
          cp -r utilHeaders/wpi headers-for-artifact
          cp -r src/main/native/include/* headers-for-artifact

      # Upload build artifact
      - name: Upload build artifact
        uses: actions/upload-artifact@v4
        with:
          path: headers-for-artifact
          name: headers

  # Upload version file, used for versioning
  version:
    runs-on: ubuntu-latest
    name: "Version"
    steps:
      - name: Checkout
        uses: actions/checkout@v4
        with:
          ref: ${{ github.sha }}

      - name: Setup Java
        uses: actions/setup-java@v4
        with:
          distribution: 'zulu'
          java-version: 11

      - name: Setup Gradle
        uses: gradle/actions/setup-gradle@v4

      - name: Build
        run: |
          ./gradlew outputVersions -PreleaseMode

      - name: Upload build artifact
        uses: actions/upload-artifact@v4
        with:
          name: version
          path: build/allOutputs/version.txt