Merge branch 'main' into no-systemcore

Author: samfreund

.github/labeler.yml

@@ -0,0 +1,15 @@
+"backend":
+  - changed-files:
+      - any-glob-to-any-file: [photon-core/**, photon-server/**]
+"documentation":
+  - changed-files:
+      - any-glob-to-any-file: [docs/**, photon-docs/**]
+"frontend":
+  - changed-files:
+      - any-glob-to-any-file: photon-client/**
+"photonlib":
+  - changed-files:
+      - any-glob-to-any-file: photon-lib*/**
+"website":
+  - changed-files:
+      - any-glob-to-any-file: website/**

.github/pull_request_template.md

@@ -13,6 +13,6 @@ Merge checklist:
 - [ ] The description documents the _what_ and _why_
 - [ ] If this PR changes behavior or adds a feature, user documentation is updated
 - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
-- [ ] If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1
+- [ ] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2
 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated
 - [ ] If this PR addresses a bug, a regression test for it is added

.github/workflows/build.yml

@@ -9,6 +9,9 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
+env:
+  IMAGE_VERSION: v2026.0.4
+
 jobs:
 
   validation:
@@ -17,27 +20,6 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: gradle/actions/wrapper-validation@v4
-
-  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: 22
-      - 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:
@@ -94,6 +76,14 @@ jobs:
         with:
           java-version: 17
           distribution: temurin
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+      - name: Setup Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: 22
       - name: Install mrcal deps
         run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
       - name: Gradle Build
@@ -102,14 +92,6 @@ jobs:
         run: ./gradlew testHeadless --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
@@ -278,7 +260,7 @@ jobs:
           path: output/*.zip
 
   build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
+    needs: [build-gradle, build-offline-docs]
 
     strategy:
       fail-fast: false
@@ -318,21 +300,19 @@ jobs:
           java-version: 17
           distribution: temurin
           architecture: ${{ matrix.architecture }}
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+      - name: Setup Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: 22
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
       - 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
@@ -382,7 +362,7 @@ jobs:
       - run: |
           sudo apt-get update
           sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
-        if: ${{ (matrix.os) == 'ubuntu-22.04' }}
+        if: ${{ (matrix.os) == 'ubuntu-24.04' }}
       # and actually run the jar
       - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
         if: ${{ (matrix.os) != 'windows-latest' }}
@@ -396,10 +376,10 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_raspi.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
@@ -435,69 +415,81 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_raspi.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: limelight3
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight3.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: limelight3G
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight3g.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
+            artifact-name: LinuxArm64
+            image_suffix: limelight4
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
+            cpu: cortex-a76
+            image_additional_mb: 0
+          - os: ubuntu-24.04
+            artifact-name: LinuxArm64
+            image_suffix: luma_p1
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_luma_p1.img.xz
+            cpu: cortex-a76
+            image_additional_mb: 0
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5b
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5b.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5b.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5plus
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5plus.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5pro
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5pro.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5pro.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5max
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5max.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             image_suffix: rock5c
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_rock5c.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
 
     runs-on: ${{ matrix.os }}
-    name: "Build image - ${{ matrix.image_url }}"
+    name: "Build image - ${{ matrix.image_suffix }}"
 
     steps:
       - name: Checkout code
@@ -531,8 +523,40 @@ jobs:
         with:
           name: image-${{ matrix.image_suffix }}
           path: photonvision*.xz
+  build-rubik-image:
+    needs: [build-package]
+
+    if: ${{ github.event_name != 'pull_request' }}
+
+    runs-on: ubuntu-24.04
+    name: "Build image - Rubik Pi 3"
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: jar-LinuxArm64
+      - name: Generate image
+        run: |
+          wget https://raw.githubusercontent.com/PhotonVision/photon-image-modifier/refs/tags/$IMAGE_VERSION/mount_rubikpi3.sh
+          chmod +x mount_rubikpi3.sh
+          ./mount_rubikpi3.sh https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz /tmp/build/scripts/armrunner.sh
+      - name: Compress image
+        run: |
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_rubikpi3.img}")
+          mv photonvision_rubikpi3 $new_image_name
+          tar -I 'xz -T0' -cf ${new_image_name}.tar.xz $new_image_name --checkpoint=10000 --checkpoint-action=echo='%T'
+      - uses: actions/upload-artifact@v4
+        name: Upload image
+        with:
+          name: image-rubikpi3
+          path: photonvision*.xz
   release:
-    needs: [build-package, build-image, combine]
+    needs: [build-photonlib-vendorjson, build-package, build-image, build-rubik-image, combine]
     runs-on: ubuntu-22.04
     steps:
       # Download all fat JARs
@@ -558,50 +582,25 @@ jobs:
 
       - run: find
       # Push to dev release
-      - uses: pyTooling/Actions/releaser@r0
+      - uses: pyTooling/Actions/releaser@r6
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
           tag: 'Dev'
           rm: true
+          snapshots: false
           files: |
             **/*.xz
             **/*linux*.jar
             **/*win*.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/action-gh-release@v2.0.9
-        with:
-          files: |
-            **/@(*orangepi5*|*rock5*).xz
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      - uses: softprops/action-gh-release@v2.0.9
-        with:
-          files: |
-            **/!(*orangepi5*|*rock5*).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')
+      - name: Create Vendor JSON Repo PR
+        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@main
         with:
+          repo: PhotonVision/vendor-json-repo
           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 }}"}'
+          vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
+          pr_title: Update photonlib to ${{ github.ref_name }}
+          pr_branch: photonlib-${{ github.ref_name }}
+        if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')

.github/workflows/labeler.yml

@@ -0,0 +1,14 @@
+name: "Pull Request Labeler"
+on:
+  - pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v5
+        with:
+          sync-labels: true