[Examples] Limit minimum battery voltage in sim to 0.1V #2334

Workflow file for this run

	name: Build

	on:
	# Run on pushes to master and pushed tags, and on pull requests against master, but ignore the docs folder
	push:
	branches: [ master ]
	tags:
	- 'v*'
	paths:
	- '**'
	- '!docs/**'
	- '.github/**'
	pull_request:
	branches: [ master ]
	paths:
	- '**'
	- '!docs/**'
	- '.github/**'
	merge_group:

	jobs:
	build-client:
	name: "PhotonClient Build"
	defaults:
	run:
	working-directory: photon-client
	runs-on: ubuntu-22.04
	steps:
	- uses: actions/checkout@v4
	- name: Setup Node.js
	uses: actions/setup-node@v4
	with:
	node-version: 18
	- name: Install Dependencies
	run: npm ci
	- name: Build Production Client
	run: npm run build
	- uses: actions/upload-artifact@v4
	with:
	name: built-client
	path: photon-client/dist/
	build-examples:

	strategy:
	fail-fast: false
	matrix:
	include:
	- os: windows-2022
	architecture: x64
	- os: macos-14
	architecture: aarch64
	- os: ubuntu-22.04

	name: "Photonlib - Build Examples - ${{ matrix.os }}"
	runs-on: ${{ matrix.os }}

	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- name: Fetch tags
	run: git fetch --tags --force
	- name: Install Java 17
	uses: actions/setup-java@v4
	with:
	java-version: 17
	distribution: temurin
	- name: Install RoboRIO Toolchain
	run: ./gradlew installRoboRioToolchain
	# Need to publish to maven local first, so that C++ sim can pick it up
	- name: Publish photonlib to maven local
	run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
	- name: Build Java examples
	working-directory: photonlib-java-examples
	run: ./gradlew build
	- name: Build C++ examples
	working-directory: photonlib-cpp-examples
	run: ./gradlew build
	build-gradle:
	name: "Gradle Build"
	runs-on: ubuntu-22.04
	steps:
	# Checkout code.
	- name: Checkout code
	uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- name: Fetch tags
	run: git fetch --tags --force
	- name: Install Java 17
	uses: actions/setup-java@v4
	with:
	java-version: 17
	distribution: temurin
	- name: Install mrcal deps
	run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
	- name: Gradle Build
	run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
	- name: Gradle Tests
	run: ./gradlew testHeadless -i --stacktrace
	- name: Gradle Coverage
	run: ./gradlew jacocoTestReport
	- name: Publish Coverage Report
	uses: codecov/codecov-action@v4
	with:
	file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
	- name: Publish Core Coverage Report
	uses: codecov/codecov-action@v4
	with:
	file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
	build-offline-docs:
	name: "Build Offline Docs"
	runs-on: ubuntu-22.04
	steps:
	- uses: actions/checkout@v4
	- uses: actions/setup-python@v5
	with:
	python-version: '3.11'
	- name: Install graphviz
	run: \|
	sudo apt-get update
	sudo apt-get -y install graphviz
	- name: Install dependencies
	working-directory: docs
	run: \|
	python -m pip install --upgrade pip
	pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
	pip install -r requirements.txt
	- name: Build the docs
	working-directory: docs
	run: \|
	make html
	- uses: actions/upload-artifact@v4
	with:
	name: built-docs
	path: docs/build/html

	build-photonlib-vendorjson:
	name: "Build Vendor JSON"
	runs-on: ubuntu-22.04
	steps:
	- uses: actions/checkout@v4
	with:
	fetch-depth: 0

	- name: Install Java 17
	uses: actions/setup-java@v4
	with:
	java-version: 17
	distribution: temurin

	# grab all tags
	- run: git fetch --tags --force

	# Generate the JSON and give it the ""standard""" name maven gives it
	- run: \|
	./gradlew photon-lib:generateVendorJson
	export VERSION=$(git describe --tags --match=v*)
	mv photon-lib/build/generated/vendordeps/photonlib.json photon-lib/build/generated/vendordeps/photonlib-$(git describe --tags --match=v*).json

	# Upload it here so it shows up in releases
	- uses: actions/upload-artifact@v4
	with:
	name: photonlib-vendor-json
	path: photon-lib/build/generated/vendordeps/photonlib-*.json

	build-photonlib-host:
	env:
	MACOSX_DEPLOYMENT_TARGET: 13
	strategy:
	fail-fast: false
	matrix:
	include:
	- os: windows-2022
	artifact-name: Win64
	architecture: x64
	- os: macos-14
	artifact-name: macOS
	architecture: aarch64
	- os: ubuntu-22.04
	artifact-name: Linux

	name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
	runs-on: ${{ matrix.os }}
	steps:
	- uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- name: Install Java 17
	uses: actions/setup-java@v4
	with:
	java-version: 17
	distribution: temurin
	architecture: ${{ matrix.architecture }}
	- run: git fetch --tags --force
	- run: ./gradlew photon-targeting:build photon-lib:build -i
	name: Build with Gradle
	- run: ./gradlew photon-lib:publish photon-targeting:publish
	name: Publish
	env:
	ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
	if: github.event_name == 'push' && github.repository_owner == 'photonvision'
	# Copy artifacts to build/outputs/maven
	- run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
	- uses: actions/upload-artifact@v4
	with:
	name: maven-${{ matrix.artifact-name }}
	path: build/outputs

	build-photonlib-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: Raspbian
	build-options: "-Ponlylinuxarm32"
	- container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
	artifact-name: Aarch64
	build-options: "-Ponlylinuxarm64"

	runs-on: ubuntu-22.04
	container: ${{ matrix.container }}
	name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
	steps:
	- uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- name: Config Git
	run: \|
	git config --global --add safe.directory /__w/photonvision/photonvision
	- name: Build PhotonLib
	# We don't need to run tests, since we specify only non-native platforms
	run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test
	- name: Publish
	run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
	env:
	ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
	if: github.event_name == 'push' && github.repository_owner == 'photonvision'
	# Copy artifacts to build/outputs/maven
	- run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
	- uses: actions/upload-artifact@v4
	with:
	name: maven-${{ matrix.artifact-name }}
	path: build/outputs

	combine:
	name: Combine
	needs: [build-photonlib-docker, build-photonlib-host]
	runs-on: ubuntu-22.04
	steps:
	- uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- run: git fetch --tags --force
	# download all maven-* artifacts to outputs/
	- uses: actions/download-artifact@v4
	with:
	merge-multiple: true
	path: output
	pattern: maven-*
	- run: find .
	- run: zip -r photonlib-$(git describe --tags --match=v*).zip .
	name: ZIP stuff up
	working-directory: output
	- run: ls output
	- uses: actions/upload-artifact@v4
	with:
	name: photonlib-offline
	path: output/*.zip

	build-package:
	needs: [build-client, build-gradle, build-offline-docs]

	strategy:
	fail-fast: false
	matrix:
	include:
	- os: windows-latest
	artifact-name: Win64
	architecture: x64
	arch-override: winx64
	- os: macos-latest
	artifact-name: macOS
	architecture: x64
	arch-override: macx64
	- os: macos-latest
	artifact-name: macOSArm
	architecture: x64
	arch-override: macarm64
	- os: ubuntu-22.04
	artifact-name: Linux
	architecture: x64
	arch-override: linuxx64
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	architecture: x64
	arch-override: linuxarm64

	runs-on: ${{ matrix.os }}
	name: "Build fat JAR - ${{ matrix.artifact-name }}"

	steps:
	- uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- name: Install Java 17
	uses: actions/setup-java@v4
	with:
	java-version: 17
	distribution: temurin
	architecture: ${{ matrix.architecture }}
	- name: Install Arm64 Toolchain
	run: ./gradlew installArm64Toolchain
	if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
	- 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: ${{ (matrix.os) == 'windows-latest' }}
	- uses: actions/download-artifact@v4
	with:
	name: built-client
	path: photon-server/src/main/resources/web/
	- uses: actions/download-artifact@v4
	with:
	name: built-docs
	path: photon-server/src/main/resources/web/docs
	- run: ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
	if: ${{ (matrix.arch-override != 'none') }}
	- run: ./gradlew photon-server:shadowJar
	if: ${{ (matrix.arch-override == 'none') }}
	- uses: actions/upload-artifact@v4
	with:
	name: jar-${{ matrix.artifact-name }}
	path: photon-server/build/libs
	- uses: actions/upload-artifact@v4
	with:
	name: photon-targeting_jar-${{ matrix.artifact-name }}
	path: photon-targeting/build/libs

	run-smoketest-native:
	needs: [build-package]

	strategy:
	fail-fast: false
	matrix:
	include:
	- os: ubuntu-22.04
	artifact-name: jar-Linux
	extraOpts: -Djdk.lang.Process.launchMechanism=vfork
	- os: windows-latest
	artifact-name: jar-Win64
	extraOpts: ""
	- os: macos-latest
	artifact-name: jar-macOS
	architecture: x64

	runs-on: ${{ matrix.os }}

	steps:
	- name: Install Java 17
	uses: actions/setup-java@v4
	with:
	java-version: 17
	distribution: temurin
	- uses: actions/download-artifact@v4
	with:
	name: ${{ matrix.artifact-name }}
	# On linux, install mrcal packages
	- run: \|
	sudo apt-get update
	sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
	if: ${{ (matrix.os) == 'ubuntu-22.04' }}
	# and actually run the jar
	- run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
	if: ${{ (matrix.os) != 'windows-latest' }}
	- run: ls *.jar \| %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
	if: ${{ (matrix.os) == 'windows-latest' }}

	run-smoketest-chroot:
	needs: [build-package]

	strategy:
	fail-fast: false
	matrix:
	include:
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: RaspberryPi
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_raspi.img.xz
	cpu: cortex-a7
	image_additional_mb: 0
	extraOpts: -Djdk.lang.Process.launchMechanism=vfork

	runs-on: ${{ matrix.os }}
	name: smoketest-${{ matrix.image_suffix }}

	steps:
	- uses: actions/download-artifact@v4
	with:
	name: jar-${{ matrix.artifact-name }}

	- uses: pguyot/arm-runner-action@v2
	name: Run photon smoketest
	id: generate_image
	with:
	base_image: ${{ matrix.image_url }}
	image_additional_mb: ${{ matrix.image_additional_mb }}
	optimize_image: yes
	cpu: ${{ matrix.cpu }}
	# We do _not_ wanna copy photon into the image. Bind mount instead
	bind_mount_repository: true
	# our image better have java installed already
	commands: \|
	java -jar ${{ matrix.extraOpts }} *.jar --smoketest

	build-image:
	needs: [build-package]

	if: ${{ github.event_name != 'pull_request' }}

	strategy:
	fail-fast: false
	matrix:
	include:
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: RaspberryPi
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_raspi.img.xz
	cpu: cortex-a7
	image_additional_mb: 0
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: limelight2
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_limelight.img.xz
	cpu: cortex-a7
	image_additional_mb: 0
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: limelight3
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_limelight3.img.xz
	cpu: cortex-a7
	image_additional_mb: 0
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: orangepi5
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5.img.xz
	cpu: cortex-a8
	image_additional_mb: 1024
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: orangepi5b
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5b.img.xz
	cpu: cortex-a8
	image_additional_mb: 1024
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: orangepi5plus
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5plus.img.xz
	cpu: cortex-a8
	image_additional_mb: 1024
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: orangepi5pro
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5pro.img.xz
	cpu: cortex-a8
	image_additional_mb: 1024
	- os: ubuntu-22.04
	artifact-name: LinuxArm64
	image_suffix: orangepi5max
	image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5max.img.xz
	cpu: cortex-a8
	image_additional_mb: 1024

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

	steps:
	- name: Checkout code
	uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- uses: actions/download-artifact@v4
	with:
	name: jar-${{ matrix.artifact-name }}
	- uses: pguyot/arm-runner-action@HEAD
	name: Generate image
	id: generate_image
	with:
	base_image: ${{ matrix.image_url }}
	image_additional_mb: ${{ matrix.image_additional_mb }}
	optimize_image: yes
	cpu: ${{ matrix.cpu }}
	# We do _not_ wanna copy photon into the image. Bind mount instead
	bind_mount_repository: true
	commands: \|
	chmod +x scripts/armrunner.sh
	./scripts/armrunner.sh
	- name: Compress image
	run: \|
	new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
	new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
	mv ${{ steps.generate_image.outputs.image }} $new_image_name
	sudo xz -T 0 -v $new_image_name
	- uses: actions/upload-artifact@v4
	name: Upload image
	with:
	name: image-${{ matrix.image_suffix }}
	path: photonvision*.xz
	release:
	needs: [build-package, build-image, combine]
	runs-on: ubuntu-22.04
	steps:
	# Download all fat JARs
	- uses: actions/download-artifact@v4
	with:
	merge-multiple: true
	pattern: jar-*
	# Download offline photonlib
	- uses: actions/download-artifact@v4
	with:
	merge-multiple: true
	pattern: photonlib-offline
	# Download vendor json
	- uses: actions/download-artifact@v4
	with:
	merge-multiple: true
	pattern: photonlib-vendor-json
	# Download all images
	- uses: actions/download-artifact@v4
	with:
	merge-multiple: true
	pattern: image-*

	- run: find
	# Push to dev release
	- uses: pyTooling/Actions/releaser@r0
	with:
	token: ${{ secrets.GITHUB_TOKEN }}
	tag: 'Dev'
	rm: true
	files: \|
	*/.xz
	*/.jar
	*/photonlib.json
	*/photonlib.zip
	if: github.event_name == 'push'
	# Upload all jars and xz archives
	# Split into two uploads to work around max size limits in action-gh-releases
	# https://github.com/softprops/action-gh-release/issues/353
	- uses: softprops/[email protected]
	with:
	files: \|
	*/orangepi5*.xz
	if: startsWith(github.ref, 'refs/tags/v')
	env:
	GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
	- uses: softprops/[email protected]
	with:
	files: \|
	*/!(orangepi5*).xz
	*/.jar
	*/photonlib.json
	*/photonlib.zip
	if: startsWith(github.ref, 'refs/tags/v')
	env:
	GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

	dispatch:
	name: dispatch
	needs: [build-photonlib-vendorjson, release]
	runs-on: ubuntu-22.04
	steps:
	- uses: peter-evans/repository-dispatch@v3
	if: \|
	github.repository == 'PhotonVision/photonvision' &&
	startsWith(github.ref, 'refs/tags/v')
	with:
	token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
	repository: PhotonVision/vendor-json-repo
	event-type: tag
	client-payload: '{"run_id": "${{ github.run_id }}", "package_version": "${{ github.ref_name }}"}'

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[Examples] Limit minimum battery voltage in sim to 0.1V #2334

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[Examples] Limit minimum battery voltage in sim to 0.1V #2334

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