Choreolib Build in CI (#234)

* first test of choreolib ci * attempt to set working directory * attempt to set working directory * remove errant working-directory * add more working-directories * try copying PPLib's setup * fix yaml syntax error * format * fix choreo.h * wpiformat * fix choreoswervecommand.h * fix choreoswervecommand again * fix java artifact id * Fix extra folder in maven structure
SleipnirGroup · Jan 8, 2024 · 4dea9db · 4dea9db
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diff --git a/.github/workflows/build-choreolib-release.yml b/.github/workflows/build-choreolib-release.yml
@@ -0,0 +1,129 @@
+name: Build ChoreoLib Release
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        type: string
+        description: The full version string, i.e. 2024.0.0-alpha-1 or 2024.1.1
+        required: true
+
+jobs:
+  build-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+            artifact-name: ChoreoLib-Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/ubuntu-base:22.04
+            artifact-name: ChoreoLib-Linux
+            build-options: "-Ponlylinuxx86-64"
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: ChoreoLib-Arm32
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: ChoreoLib-Arm64
+            build-options: "-Ponlylinuxarm64"
+    name: "[ChoreoLib] Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-22.04
+    container: ${{ matrix.container }}
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+        working-directory: ./choreolib
+
+      - name: Set version
+        run: sed -i "s/0.0.0/${{ github.event.inputs.version }}/g" publish.gradle
+        working-directory: ./choreolib
+
+      - name: Ensure spotless is applied
+        run: ./gradlew spotlessApply
+        working-directory: ./choreolib
+
+      - name: Build
+        run: ./gradlew build -PreleaseMode ${{ matrix.build-options }}
+        working-directory: ./choreolib
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: choreolib/build/allOutputs
+
+  build-host:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: ChoreoLib-Win64
+          - os: macos-13
+            artifact-name: ChoreoLib-macOS
+    name: "[ChoreoLib] Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+
+      - name: Setup java
+        uses: actions/setup-java@v3
+        with:
+          java-version: "17"
+          distribution: "zulu"
+
+      - name: Set version
+        run: sed -i '' "s/0.0.0/${{ github.event.inputs.version }}/g" publish.gradle
+        working-directory: ./choreolib
+
+      - name: Ensure spotless is applied
+        run: ./gradlew spotlessApply
+        working-directory: ./choreolib
+
+      - name: Build
+        run: ./gradlew build -Pbuildalldesktop -PreleaseMode
+        working-directory: ./choreolib
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: choreolib/build/allOutputs
+
+  combine:
+    name: "[ChoreoLib] Combine"
+    needs: [build-docker, build-host]
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout build-tools
+        uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/build-tools
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v3
+        with:
+          path: combiner/products/build/allOutputs
+
+      - name: Flatten Artifacts
+        run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
+
+      - name: Setup java
+        uses: actions/setup-java@v3
+        with:
+          java-version: "17"
+          distribution: "zulu"
+
+      - name: Combine
+        run: ./gradlew publish -Pthirdparty
+        working-directory: combiner
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: ChoreoLib-Maven-v${{ github.event.inputs.version }}
+          path: ~/releases
diff --git a/.github/workflows/build-choreolib.yml b/.github/workflows/build-choreolib.yml
@@ -0,0 +1,108 @@
+name: Build Choreolib
+
+on: [push, pull_request]
+
+jobs:
+  build-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: Arm32
+          #   build-options: "-Ponlylinuxarm32"
+          # - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          #   artifact-name: Arm64
+          #   build-options: "-Ponlylinuxarm64"
+          - container: wpilib/ubuntu-base:22.04
+            artifact-name: Linux
+            build-options: ""
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          fetch-depth: 0
+      - name: Fetch all history and metadata
+        run: |
+          git config --global --add safe.directory /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}
+      - name: Build with Gradle
+        run: ./gradlew build --max-workers 1 ${{ matrix.build-options }}
+        working-directory: choreolib
+      - uses: actions/upload-artifact@v3
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: choreolib/build/allOutputs
+
+  build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 12
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64
+            architecture: x64
+          - os: macos-12
+            artifact-name: macOS
+            architecture: x64
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - name: Fetch all history and metadata
+        run: git fetch --prune --unshallow
+      - uses: actions/setup-java@v3
+        with:
+          distribution: "zulu"
+          java-version: 17
+          architecture: ${{ matrix.architecture }}
+      - name: Build with Gradle
+        run: ./gradlew build -Pbuildalldesktop
+        working-directory: choreolib
+      - uses: actions/upload-artifact@v3
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: choreolib/build/allOutputs
+
+  combine:
+    name: Combine
+    needs: [build-docker, build-host]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/build-tools
+      - uses: actions/download-artifact@v3
+        with:
+          path: combiner/products/build/allOutputs
+      - name: Flatten Artifacts
+        run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
+      - uses: actions/setup-java@v3
+        with:
+          distribution: "zulu"
+          java-version: 17
+      - name: Combine
+        if: |
+          !startsWith(github.ref, 'refs/tags/v')
+        run: ./gradlew publish -Pthirdparty
+        working-directory: combiner
+      - name: Combine (Release)
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          startsWith(github.ref, 'refs/tags/v')
+        run: |
+          ./gradlew publish -Pthirdparty
+        working-directory: combiner
+      - uses: actions/upload-artifact@v3
+        with:
+          name: Maven
+          path: ~/releases
diff --git a/choreolib/publish.gradle b/choreolib/publish.gradle
@@ -44,8 +44,8 @@ ext.addTaskToCopyAllOutputs = { task ->
 
 def artifactGroupId = 'com.choreo.lib'
 def baseArtifactId = 'ChoreoLib'
-def zipBaseName = "_GROUP_com_choreo_lib_choreolib_ID_${baseArtifactId}-cpp_CLS"
-def javaBaseName = "_GROUP_com_choreo_lib_choreolib_ID_${baseArtifactId}-java_CLS"
+def zipBaseName = "_GROUP_com_choreo_lib_ID_${baseArtifactId}-cpp_CLS"
+def javaBaseName = "_GROUP_com_choreo_lib_ID_${baseArtifactId}-java_CLS"
 
 // C++ configuration for the future.
 task cppHeadersZip(type: Zip) {
@@ -151,7 +151,6 @@ model {
         def taskList = createComponentZipTasks($.components, ['ChoreoLib'], zipBaseName, Zip, project, includeStandardZipFormat)
 
         publications {
-            // C++ configuration for the future.
             cpp(MavenPublication) {
                 taskList.each {
                     artifact it
@@ -169,8 +168,7 @@ model {
                 artifact sourcesJar
                 artifact javadocJar
 
-                // artifactId = "${baseArtifactId}-java"
-                artifactId = baseArtifactId
+                artifactId = "${baseArtifactId}-java"
                 groupId artifactGroupId
                 version pubVersion
             }

diff --git a/choreolib/src/main/native/cpp/choreo/lib/ChoreoSwerveCommand.cpp b/choreolib/src/main/native/cpp/choreo/lib/ChoreoSwerveCommand.cpp
@@ -27,7 +27,7 @@ void ChoreoSwerveCommand::Initialize() {
 // Called repeatedly when this Command is scheduled to run
 void ChoreoSwerveCommand::Execute() {
   units::second_t currentTrajTime = m_timer.Get();
-  bool mirror = mirrorTrajectory();
+  bool mirror = m_mirrorTrajectory();
   m_outputChassisSpeeds(
       m_controller(m_pose(), m_traj.Sample(currentTrajTime, mirror)));
 }

diff --git a/choreolib/src/main/native/include/choreo/lib/Choreo.h b/choreolib/src/main/native/include/choreo/lib/Choreo.h
@@ -49,8 +49,9 @@ class Choreo {
    *  global heading of the robot
    * @param outputChassisSpeeds a function that consuming the calculated robot
    *  relative ChassisSpeeds
-   * @param useAllianceColor if true, mirror the trajectory along the midline of
-   *  the field
+   * @param mirrorTrajectory If this returns true, the path will be mirrored to
+   * the opposite side, while keeping the same coordinate system origin. This
+   * will be called every loop during the command.
    * @param requirements the frc2::Requirements of the command
    * @return an frc2::CommandPtr containing the command that will command your
    *  drivebase to follow a trajectory
@@ -60,7 +61,8 @@ class Choreo {
       frc::PIDController xController, frc::PIDController yController,
       frc::PIDController rotationController,
       std::function<void(frc::ChassisSpeeds)> outputChassisSpeeds,
-      bool useAllianceColor, frc2::Requirements requirements = {});
+      std::function<bool(void)> mirrorTrajectory,
+      frc2::Requirements requirements = {});
 
   /**
    * Creates a CommandPtr that commands your drivebase to follow a Choreo
@@ -73,8 +75,9 @@ class Choreo {
    *  the robots position
    * @param outputChassisSpeeds a function that consuming the calculated robot
    *  relative ChassisSpeeds
-   * @param useAllianceColor if true, mirror the trajectory along the midline of
-   *  the field
+   * @param mirrorTrajectory If this returns true, the path will be mirrored to
+   * the opposite side, while keeping the same coordinate system origin. This
+   * will be called every loop during the command.
    * @param requirements the frc2::Requirements of the command
    * @return an frc2::CommandPtr containing the command that will command your
    *  drivebase to follow a trajectory
@@ -83,7 +86,8 @@ class Choreo {
       ChoreoTrajectory trajectory, std::function<frc::Pose2d()> poseSupplier,
       ChoreoControllerFunction controller,
       std::function<void(frc::ChassisSpeeds)> outputChassisSpeeds,
-      bool useAllianceColor, frc2::Requirements requirements = {});
+      std::function<bool(void)> mirrorTrajectory,
+      frc2::Requirements requirements = {});
 
   /**
    * Creates a ChoreoControllerFunction handles the feedback of the drivebase

diff --git a/choreolib/src/main/native/include/choreo/lib/ChoreoSwerveCommand.h b/choreolib/src/main/native/include/choreo/lib/ChoreoSwerveCommand.h
@@ -61,6 +61,6 @@ class ChoreoSwerveCommand
   std::function<frc::Pose2d()> m_pose;
   ChoreoControllerFunction m_controller;
   std::function<void(frc::ChassisSpeeds)> m_outputChassisSpeeds;
-  std::function<bool(void)> mirrorTrajectory;
+  std::function<bool(void)> m_mirrorTrajectory;
 };
 }  // namespace choreolib