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LandryNorrisLandryNorris
authored
Merge pull request #37 from unofficial-rev-port/fix/upstream-build-changes
Update build system for Linux, macOS, overhaul GitHub Actions, remove serial driver
2 parents 44bdc5b + a06a0bb commit 054420c

24 files changed

+198
-5081
lines changed

‎.github/dependabot.yml

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version: 2
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updates:
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# Dependabot updates for GitHub Actions
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- package-ecosystem: github-actions
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directory: "/"
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schedule:
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interval: "weekly"

‎.github/workflows/build.yml

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name: Build
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on:
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push:
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branches:
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- 'main'
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pull_request:
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branches:
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- '*'
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[push, pull_request]
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concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
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cancel-in-progress: false
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defaults:
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run:
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shell: bash
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jobs:
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# 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
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build:
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timeout-minutes: 15
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: windows-latest
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container: ''
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name: windows64
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name: "build-${{ matrix.name }}"
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name: Win64
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build-options: ""
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platform-type: windowsx86-64
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- os: ubuntu-latest
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name: Linux64
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platform-type: linuxx86-64
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build-options: ""
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- os: macos-latest
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name: macOS
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platform-type: osxuniversal
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build-options: ""
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- container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
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os: ubuntu-latest
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name: LinuxARM64
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build-options: "-Ponlylinuxarm64"
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platform-type: linuxarm64
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arch: arm64
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- container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
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os: ubuntu-latest
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name: LinuxARM32
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build-options: "-Ponlylinuxarm32"
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platform-type: linuxarm32
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arch: arm32
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name: "Build - ${{ matrix.name }}"
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runs-on: ${{ matrix.os }}
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container: ${{ matrix.container }}
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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ref: ${{ github.sha }}
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- name: Setup Java
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uses: actions/setup-java@v3
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uses: actions/setup-java@v4
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with:
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distribution: 'zulu'
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java-version: 11
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- name: Setup Gradle
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uses: gradle/actions/setup-gradle@v4
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- name: Build
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run: |
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./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode
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- name: Download WPILib HAL artifacts and headers, gather all needed headers
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- name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }}
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run : |
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halVersion=$(cat wpiHalVersion.txt)
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sharedHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
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sharedUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
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curl -L -o sharedHalPlatform.zip "$sharedHalPlatformUrl"
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curl -L -o sharedUtilPlatform.zip "$sharedUtilPlatformUrl"
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# Download WPILib artifacts from Artifactory
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halWindowsUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-windowsx86-64.zip
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staticHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip
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staticUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip
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curl -L -o staticHalPlatform.zip "$staticHalPlatformUrl"
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curl -L -o staticUtilPlatform.zip "$staticUtilPlatformUrl"
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- name: Unzip WPILib HAL artifacts and headers
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run: |
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unzip sharedHalPlatform.zip -d sharedHalPlatform
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unzip sharedUtilPlatform.zip -d sharedUtilPlatform
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unzip staticHalPlatform.zip -d staticHalPlatform
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unzip staticUtilPlatform.zip -d staticUtilPlatform
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mkdir -p CANBridge-artifacts/static
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mkdir -p CANBridge-artifacts/shared
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# Put release files together in one directory based on platform
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- name: Create Artifact
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run: |
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mkdir -p CANBridge-artifacts
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if [[ "${{ matrix.platform-type }}" == "windowsx86-64" ]]; then
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cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/shared/
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cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/shared/
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cp sharedHalPlatform/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/shared/
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cp sharedHalPlatform/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/shared/
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cp sharedUtilPlatform/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/shared/
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cp sharedUtilPlatform/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/shared/
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cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/static/
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cp staticHalPlatform/windows/x86-64/static/wpiHal.lib CANBridge-artifacts/static/
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cp staticUtilPlatform/windows/x86-64/static/wpiutil.lib CANBridge-artifacts/static/
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elif [[ "${{ matrix.platform-type }}" == "linuxx86-64" ]]; then
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cp build/libs/cANBridge/shared/linuxx86-64/release/libCANBridge.so CANBridge-artifacts/shared/
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cp sharedHalPlatform/linux/x86-64/shared/libwpiHal.so CANBridge-artifacts/shared/
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cp sharedUtilPlatform/linux/x86-64/shared/libwpiutil.so CANBridge-artifacts/shared/
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cp build/libs/cANBridge/static/linuxx86-64/release/libCANBridge.a CANBridge-artifacts/static/
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cp staticHalPlatform/linux/x86-64/static/libwpiHal.a CANBridge-artifacts/static/
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cp staticUtilPlatform/linux/x86-64/static/libwpiutil.a CANBridge-artifacts/static/
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elif [[ "${{ matrix.platform-type }}" == "osxuniversal" ]]; then
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cp build/libs/cANBridge/shared/osxuniversal/release/libCANBridge.dylib CANBridge-artifacts/shared/
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cp sharedHalPlatform/osx/universal/shared/libwpiHal.dylib CANBridge-artifacts/shared/
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cp sharedUtilPlatform/osx/universal/shared/libwpiutil.dylib CANBridge-artifacts/shared
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cp build/libs/cANBridge/static/osxuniversal/release/libCANBridge.a CANBridge-artifacts/static/
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cp staticHalPlatform/osx/universal/static/libwpiHal.a CANBridge-artifacts/static/
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cp staticUtilPlatform/osx/universal/static/libwpiutil.a CANBridge-artifacts/static/
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elif [[ "${{ matrix.platform-type }}" == "linuxarm32" || "${{ matrix.platform-type }}" == "linuxarm64" ]]; then
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cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/shared/libCANBridge.so
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cp sharedHalPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/shared/libwpiHal.so
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cp sharedUtilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/shared/libwpiutil.so
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cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/static/libCANBridge.a
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cp staticHalPlatform/linux/${{ matrix.arch }}/static/libwpiHal.a CANBridge-artifacts/static/libwpiHal.a
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cp staticUtilPlatform/linux/${{ matrix.arch }}/static/libwpiutil.a CANBridge-artifacts/static/libwpiutil.a
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fi
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# Upload build artifact
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- name: Upload build artifact
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uses: actions/upload-artifact@v4
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with:
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name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}}
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path: CANBridge-artifacts/
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# Upload combined headers for WPILib from HAL and WPIUtil
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wpi-headers:
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runs-on: ubuntu-latest
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name: "WPILib Headers"
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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with:
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ref: ${{ github.sha }}
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- name: Download WPILib HAL artifacts and headers
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run : |
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halVersion=$(cat wpiHalVersion.txt)
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halHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-headers.zip
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utilWindowsUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-windowsx86-64.zip
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utilHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-headers.zip
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curl -L -o halWindows.zip "$halWindowsUrl"
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curl -L -o halHeaders.zip "$halHeadersUrl"
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curl -L -o utilWindows.zip "$utilWindowsUrl"
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curl -L -o utilHeaders.zip "$utilHeadersUrl"
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unzip halWindows.zip -d halWindows
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- name: Unzip WPILib HAL artifacts and headers
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run: |
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unzip halHeaders.zip -d halHeaders
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unzip utilWindows.zip -d utilWindows
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unzip utilHeaders.zip -d utilHeaders
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# Gather all of the the needed headers
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- name: Gather all needed headers
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run: |
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mkdir headers-for-artifact
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cp -r halHeaders/hal headers-for-artifact
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cp -r utilHeaders/wpi headers-for-artifact
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cp -r src/main/native/include/* headers-for-artifact
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# Zip the needed headers and put them in the appropriate location for artifact upload
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mkdir -p CANBridge-artifacts
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7z a CANBridge-artifacts/headers.zip ./headers-for-artifact/*
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# Put release files together in one directory
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- name: Create Artifact
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run: |
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mkdir -p CANBridge-artifacts
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cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib
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cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/CANBridge.dll
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cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib
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cp halWindows/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/wpiHal.dll
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cp halWindows/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/wpiHal.lib
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cp utilWindows/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/wpiutil.dll
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cp utilWindows/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/wpiutil.lib
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# Upload build artifact
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- name: Upload build artifact
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uses: actions/upload-artifact@v3
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uses: actions/upload-artifact@v4
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with:
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name: CANBridge-${{ github.sha }}
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path: CANBridge-artifacts/
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path: headers-for-artifact
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name: headers
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# Upload version file, used for versioning
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version:
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runs-on: ubuntu-latest
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name: "Version"
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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with:
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ref: ${{ github.sha }}
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- name: Setup Java
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uses: actions/setup-java@v4
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with:
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distribution: 'zulu'
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java-version: 11
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- name: Setup Gradle
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uses: gradle/actions/setup-gradle@v4
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- name: Build
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run: |
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./gradlew outputVersions -PreleaseMode
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# Upload version.txt
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- name: Upload version artifact
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uses: actions/upload-artifact@v3
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- name: Upload build artifact
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uses: actions/upload-artifact@v4
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with:
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name: version
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path: build/allOutputs/version.txt

‎.github/workflows/release.yml

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on:
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push:
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tags:
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- 'v*'
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- 'v**'
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permissions:
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contents: write
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concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
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cancel-in-progress: false
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defaults:
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run:
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shell: bash
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jobs:
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check-versions:
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# Checks previous build workflow and gets the version from publish.gradle
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check-build:
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name: Check build and publish versions
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runs-on: ubuntu-latest
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outputs:
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TAG_NAME: ${{ env.TAG_NAME }}
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VERSION: ${{ steps.get_version.outputs.version }}
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steps:
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- name: Wait for build to finish
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uses: lewagon/[email protected].1
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- name: Wait for build workflow to finish
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uses: lewagon/[email protected].4
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with:
2231
ref: ${{ github.ref }}
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check-name: 'build-windows64'
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check-regexp: 'Build|WPILib Headers|Version'
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repo-token: ${{ secrets.GITHUB_TOKEN }}
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wait-interval: 10
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- name: Get tag name
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run: |
28-
echo "TAG_NAME=${GITHUB_REF#refs/*/}" >> $GITHUB_ENV
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# Download artifacts from build workflow
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- name: Download workflow artifacts
32-
uses: dawidd6/action-download-artifact@v2
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uses: dawidd6/action-download-artifact@v6
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with:
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workflow: build.yml
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commit: ${{ github.sha }}
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path: '.'
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# Get publish.gradle version
3945
- name: Get publish.gradle version
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id: get_version
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id: get-version
4147
run: |
4248
echo "version=$(cat version/version.txt)" >> $GITHUB_OUTPUT
4349
echo "expectedTagName=v$(cat version/version.txt)" >> $GITHUB_OUTPUT
4450
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# Check publish.gradle version
46-
- name: publish.gradle version check FAILED
47-
if: ${{ steps.get_version.outputs.expectedTagName != env.TAG_NAME }}
51+
# Check if the publish.gradle version matches the tag name
52+
- name: Check version
4853
run: |
49-
echo Tag name: ${{ env.TAG_NAME }}
50-
echo publish.gradle version: ${{ steps.get_version.outputs.version }}
51-
exit 1
54+
if [[ "${{ steps.get-version.outputs.expectedTagName }}" != "${{ env.TAG_NAME }}" ]]; then
55+
echo "Version mismatch: ${{ steps.get-version.outputs.expectedTagName }} != ${{ env.TAG_NAME }}"
56+
exit 1
57+
fi
5258
59+
# Creates a release draft with the artifacts from the build workflow
5360
prepare-release:
61+
name: Prepare release
5462
runs-on: ubuntu-latest
55-
needs: check-versions
63+
needs: check-build
5664
steps:
5765
# Download API, docs, and version.txt
5866
- name: Download workflow artifacts
59-
uses: dawidd6/action-download-artifact@v2
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uses: dawidd6/action-download-artifact@v6
6068
with:
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workflow: build.yml
6270
commit: ${{ github.sha }}
6371
path: '.'
72+
skip_unpack: true
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74+
# This step is to check what files are downloaded and how they are structured, as well as binary sizes for releases
75+
- name: List files
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run: |
77+
ls -Rlh
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6579
# Create new release draft
6680
- name: Create release
67-
id: create_release
68-
env:
69-
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
70-
run: |
71-
VERSION=${{ needs.check-versions.outputs.version }}
72-
TAG=v$VERSION
73-
ls --recursive -l
74-
gh release create $TAG CANBridge-${{ github.sha }}/* --repo $GITHUB_REPOSITORY --draft --title "Version $VERSION"
81+
uses: softprops/action-gh-release@v2
82+
with:
83+
draft: true
84+
generate_release_notes: true
85+
tag_name: v${{ steps.get-version.outputs.version }}
86+
name: Version ${{ steps.get-version.outputs.version }}
87+
files: |
88+
**/**

‎config.gradle

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// When updating WPILib, be sure to also update wpiHalVersion.txt
99
wpiVersion = "2023.+"
1010
niLibVersion = "2023.3.0"
11-
googleTestVersion = "1.11.0-3"
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googleTestVersion = "1.11.0-4"
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}
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}
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}

‎gradlew

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File mode changed.

‎src/main/native/cpp/CANBridge.cpp

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#include "rev/Drivers/CandleWinUSB/CandleWinUSBDriver.h"
4444
#endif
4545

46-
#include "rev/Drivers/SerialPort/SerialDriver.h"
47-
4846
#include <hal/simulation/CanData.h>
4947
#include <hal/CAN.h>
5048

@@ -61,7 +59,6 @@ static const std::vector<rev::usb::CANDriver*> CANDriverList = {
6159
#ifdef _WIN32
6260
new rev::usb::CandleWinUSBDriver(),
6361
#endif
64-
new rev::usb::SerialDriver()
6562
};
6663

6764
static std::vector<std::pair<std::unique_ptr<rev::usb::CANDevice>, rev::usb::CANBridge_CANFilter>> CANDeviceList = {};

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