choreolib.yml

name: ChoreoLib

on: [push, pull_request]

jobs:
  build-docker:
    strategy:
      fail-fast: false
      matrix:
        include:
          - container: wpilib/roborio-cross-ubuntu:2025-22.04
            artifact-name: Athena
            build-options: -Ponlylinuxathena

          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
            artifact-name: Linux-arm32
            build-options: -Ponlylinuxarm32

          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
            artifact-name: Linux-arm64
            build-options: -Ponlylinuxarm64

          - container: wpilib/ubuntu-base:22.04
            artifact-name: Linux-x86_64
            build-options:

    name: "Build C++ and Java / ${{ matrix.artifact-name }}"
    runs-on: ubuntu-24.04
    container: ${{ matrix.container }}
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: true
          fetch-depth: 0
          persist-credentials: false
          token: ${{secrets.GITHUB_TOKEN}}

      - name: Fetch all history and metadata
        run: |
          git config --global --add safe.directory /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}

      - name: Set version (release)
        if: startsWith(github.ref, 'refs/tags/v')
        working-directory: choreolib
        run: sed -i "s/0.0.0/${GITHUB_REF##*v}/g" publish.gradle

      - name: Build with Gradle
        if: ${{ !startsWith(github.ref, 'refs/tags/v') }}
        working-directory: choreolib
        run: ./gradlew build ${{ matrix.build-options }}

      - name: Build with Gradle (release)
        if: startsWith(github.ref, 'refs/tags/v')
        working-directory: choreolib
        run: ./gradlew build ${{ matrix.build-options }} -PreleaseMode

      - uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.artifact-name }}
          path: choreolib/build/allOutputs

  build-host:
    env:
      MACOSX_DEPLOYMENT_TARGET: 13.3
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: windows-2022
            artifact-name: Windows-x86_64
            build-options:

          # FIXME: Link failure on commands library
          # - os: windows-2022
          #   artifact-name: Windows-aarch64
          #   build-options: -Pbuildwinarm64 -Ponlywindowsarm64

          - os: macOS-13
            artifact-name: macOS-x86_64
            build-options:

          - os: macOS-14
            artifact-name: macOS-arm64
            build-options:

    name: "Build C++ and Java / ${{ matrix.artifact-name }}"
    runs-on: ${{ matrix.os }}
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: true
          persist-credentials: false
          token: ${{secrets.GITHUB_TOKEN}}

      - name: Fetch all history and metadata
        run: git fetch --prune --unshallow

      - uses: actions/setup-java@v4
        with:
          distribution: "temurin"
          java-version: 17

      - name: Set version (Windows release)
        if: startsWith(matrix.os, 'windows') && startsWith(github.ref, 'refs/tags/v')
        run: |
          sed -i "s/0.0.0/${GITHUB_REF##*v}/g" publish.gradle
          ./gradlew spotlessApply  # Undo line ending changes from sed
        working-directory: choreolib

      - name: Set version (macOS release)
        if: startsWith(matrix.os, 'macOS') && startsWith(github.ref, 'refs/tags/v')
        run: sed -i '' "s/0.0.0/${GITHUB_REF##*v}/g" publish.gradle
        working-directory: choreolib

      - name: Build with Gradle
        if: ${{ !startsWith(github.ref, 'refs/tags/v') }}
        working-directory: choreolib
        run: ./gradlew build ${{ matrix.build-options }}

      - name: Build with Gradle (release)
        if: startsWith(github.ref, 'refs/tags/v')
        working-directory: choreolib
        run: ./gradlew build ${{ matrix.build-options }} -PreleaseMode

      - uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.artifact-name }}
          path: choreolib/build/allOutputs

  vendordep:
    name: Upload vendordep JSON
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
        with:
          persist-credentials: false
          token: ${{secrets.GITHUB_TOKEN}}

      - uses: actions/upload-artifact@v4
        with:
          name: ChoreoLib-json
          path: choreolib/ChoreoLib2025Beta.json

  combine:
    name: Combine
    needs: [build-docker, build-host]
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
        with:
          repository: wpilibsuite/build-tools
          persist-credentials: false
          token: ${{secrets.GITHUB_TOKEN}}

      - uses: actions/download-artifact@v4
        with:
          path: combiner/products/build/allOutputs

      - name: Generate a token
        if: startsWith(github.ref, 'refs/tags/v')
        id: generate-token
        uses: actions/create-github-app-token@v1
        with:
          app-id: ${{ secrets.CHOREOLIB_RELEASE_APP_ID }}
          private-key: ${{ secrets.CHOREOLIB_RELEASE_APP_PRIVATE_KEY }}
          owner: ${{ github.repository_owner }}

      - name: Checkout ChoreoLib repository
        if: startsWith(github.ref, 'refs/tags/v')
        uses: actions/checkout@v4
        with:
          repository: SleipnirGroup/ChoreoLib
          path: ChoreoLib
          token: ${{ steps.generate-token.outputs.token }}
          persist-credentials: false

      - name: Copy ChoreoLib JSON
        if: startsWith(github.ref, 'refs/tags/v')
        run: |
          cp combiner/products/build/allOutputs/ChoreoLib-json/ChoreoLib2025Beta.json ChoreoLib/dep/ChoreoLib2025Beta.json

      - name: Remove JSON Artifact From Download
        run: rm combiner/products/build/allOutputs/ChoreoLib-json/ChoreoLib2025Beta.json

      - name: Flatten Artifacts
        run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs

      - uses: actions/setup-java@v4
        with:
          distribution: "temurin"
          java-version: 17

      - name: Combine
        run: ./gradlew publish -Pthirdparty
        working-directory: combiner

      - name: Transfer ChoreoLib Artifacts
        if: startsWith(github.ref, 'refs/tags/v')
        run: cp -r ~/releases/maven/development/choreo/* ChoreoLib/dep/choreo

      - name: Create Pull Request
        if: startsWith(github.ref, 'refs/tags/v')
        uses: peter-evans/create-pull-request@v7
        with:
          token: ${{ steps.generate-token.outputs.token }}
          path: ./ChoreoLib
          title: Add ChoreoLib ${{github.ref_name}}
          commit-message: Add ChoreoLib ${{github.ref_name}}
          body:
          branch: publish-${{github.ref_name}}

      - uses: actions/upload-artifact@v4
        with:
          name: ChoreoLib-Maven
          path: ~/releases

  build-python:
    name: "Build Python"
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
          persist-credentials: false
          token: ${{secrets.GITHUB_TOKEN}}

      - uses: actions/setup-python@v5
        with:
          python-version: 3.12

      - run: pip3 install build wheel pytest

      - run: python3 -m build
        working-directory: ./choreolib/py
      - run: pip3 install --no-cache-dir dist/*.whl
        working-directory: ./choreolib/py
      - run: pytest
        working-directory: ./choreolib/py

      - uses: actions/upload-artifact@v4
        with:
          name: Python
          path: ./choreolib/py/dist

  pypi-publish:
    name: Upload release to PyPI
    runs-on: ubuntu-24.04
    needs: [build-python]
    if: github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
    environment:
      name: pypi
      url: https://pypi.org/p/sleipnirgroup-choreolib
    permissions:
      id-token: write
    steps:
      - uses: actions/download-artifact@v4
        with:
          path: dist
          pattern: "Python"
          merge-multiple: true
      - name: Publish package distributions to PyPI
        uses: pypa/gh-action-pypi-publish@release/v1