Update GitHub Actions workflows, update GoogleTest dependency

Updated workflows from upstream main to include macOS, Linux, and ARM variants to build against. Added concurrency for the workflows and also split some workflows out for smaller individual artifact sizes. Updated actions to latest available. Changed build action to run on every commit pushed rather than only PR's and pushes to main.

Updated GoogleTest dependency to resolve issue with the WPILib Artifactory, this was causing issues with builds on macOS where osxuniversal platform type was not available, and split between osxarm64 and osxx86-64.

.github/workflows/build.yml

@@ -1,96 +1,236 @@
 name: Build
 
 on:
-  push:
-    branches:
-      - 'main'
-  pull_request:
-    branches:
-      - '*'
+  [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: false
 
 defaults:
   run:
     shell: bash
 
 jobs:
-  build:
+  # Use WPI provided Docker images to build for Linux ARM32 and ARM64 platforms
+  build-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            name: LinuxARM64
+            build-options: "-Ponlylinuxarm64"
+            platform-type: linuxarm64
+            arch: arm64
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            name: LinuxARM32
+            build-options: "-Ponlylinuxarm32"
+            platform-type: linuxarm32
+            arch: arm32
+    runs-on: ubuntu-latest
+    name: "Build - ${{ matrix.name }}"
+    container: ${{ matrix.container }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.sha }}
+
+      - name: Setup Java
+        uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 11
+
+      - name: Setup Gradle
+        uses: gradle/actions/setup-gradle@v4
+
+      - name: Build
+        run: |
+          ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode
+
+      - name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }}
+        run : |
+          halVersion=$(cat wpiHalVersion.txt)
+          
+          halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
+          utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
+
+          curl -o halPlatform.zip "$halPlatformUrl"
+          curl -o utilPlatform.zip "$utilPlatformUrl"
+
+      - name: Unzip WPILib HAL artifacts and headers
+        run: |
+          unzip halPlatform.zip -d halPlatform
+          unzip utilPlatform.zip -d utilPlatform
+          mkdir -p CANBridge-artifacts
+
+      # Put Linux ARM release files together in one directory
+      - name: Create Artifact
+        run: |
+          cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a
+          cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/libCANBridge.so
+          cp halPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/libwpiHal.so
+          cp utilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/libwpiutil.so
+
+      # Upload build artifact
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}}
+          path: CANBridge-artifacts/
+
+  # Use native runners to build for Windows, Linux, and macOS
+  build-native:
     timeout-minutes: 15
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: windows-latest
-            container: ''
-            name: windows64
-    name: "build-${{ matrix.name }}"
+            name: Win64
+            build-options: ""
+            platform-type: windowsx86-64
+          - os: ubuntu-latest
+            name: Linux64
+            platform-type: linuxx86-64
+            build-options: ""
+          - os: macos-latest
+            name: macOS
+            platform-type: osxuniversal
+            build-options: ""
+    name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
-    container: ${{ matrix.container }}
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ github.sha }}
 
       - name: Setup Java
-        uses: actions/setup-java@v3
+        uses: actions/setup-java@v4
         with:
           distribution: 'zulu'
           java-version: 11
 
+      - name: Setup Gradle
+        uses: gradle/actions/setup-gradle@v4
+
       - name: Build
         run: |
           ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode
 
-      - name: Download WPILib HAL artifacts and headers, gather all needed headers
+      - name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }}
         run : |
           halVersion=$(cat wpiHalVersion.txt)
-          
-          # Download WPILib artifacts from Artifactory 
-          halWindowsUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-windowsx86-64.zip
+
+          halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
+          utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
+
+          curl -o halPlatform.zip "$halPlatformUrl"
+          curl -o utilPlatform.zip "$utilPlatformUrl"
+
+      - name: Unzip WPILib HAL artifacts and headers
+        run: |
+          unzip halPlatform.zip -d halPlatform
+          unzip utilPlatform.zip -d utilPlatform
+          mkdir -p CANBridge-artifacts
+
+      # Put release files together in one directory based on platform
+      - name: Create Artifact
+        run: |
+          mkdir -p CANBridge-artifacts
+          if [[ "${{ matrix.platform-type }}" == "windowsx86-64" ]]; then
+            cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib
+            cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/CANBridge.dll
+            cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib
+            cp halPlatform/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/wpiHal.dll
+            cp halPlatform/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/wpiHal.lib
+            cp utilPlatform/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/wpiutil.dll
+            cp utilPlatform/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/wpiutil.lib
+          elif [[ "${{ matrix.platform-type }}" == "linuxx86-64" ]]; then
+            cp build/libs/cANBridge/static/linuxx86-64/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a
+            cp build/libs/cANBridge/shared/linuxx86-64/release/libCANBridge.so CANBridge-artifacts/libCANBridge.so
+            cp halPlatform/linux/x86-64/shared/libwpiHal.so CANBridge-artifacts/libwpiHal.so
+            cp utilPlatform/linux/x86-64/shared/libwpiutil.so CANBridge-artifacts/libwpiutil.so
+          elif [[ "${{ matrix.platform-type }}" == "osxuniversal" ]]; then
+            cp build/libs/cANBridge/static/osxuniversal/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a
+            cp build/libs/cANBridge/shared/osxuniversal/release/libCANBridge.dylib CANBridge-artifacts/libCANBridge.dylib
+            cp halPlatform/osx/universal/shared/libwpiHal.dylib CANBridge-artifacts/libwpiHal.dylib
+            cp utilPlatform/osx/universal/shared/libwpiutil.dylib CANBridge-artifacts/libwpiutil.dylib
+          fi
+
+      # Upload build artifact
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}}
+          path: CANBridge-artifacts/
+
+  # Upload combined headers for WPILib from HAL and WPIUtil
+  wpi-headers:
+    runs-on: ubuntu-latest
+    name: "WPILib Headers"
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.sha }}
+      - name: Download WPILib HAL artifacts and headers
+        run : |
+          halVersion=$(cat wpiHalVersion.txt)
+
           halHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-headers.zip
-          utilWindowsUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-windowsx86-64.zip
           utilHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-headers.zip
-          curl -o halWindows.zip "$halWindowsUrl"
+
           curl -o halHeaders.zip "$halHeadersUrl"
-          curl -o utilWindows.zip "$utilWindowsUrl"
           curl -o utilHeaders.zip "$utilHeadersUrl"
-          unzip halWindows.zip -d halWindows
+
+      - name: Unzip WPILib HAL artifacts and headers
+        run: |
           unzip halHeaders.zip -d halHeaders
-          unzip utilWindows.zip -d utilWindows
           unzip utilHeaders.zip -d utilHeaders
 
-          # Gather all of the the needed headers
+      - name: Gather all needed headers
+        run: |
           mkdir headers-for-artifact
           cp -r halHeaders/hal headers-for-artifact
           cp -r utilHeaders/wpi headers-for-artifact
           cp -r src/main/native/include/* headers-for-artifact
 
-          # Zip the needed headers and put them in the appropriate location for artifact upload
-          mkdir -p CANBridge-artifacts
-          7z a CANBridge-artifacts/headers.zip ./headers-for-artifact/*
-
-      # Put release files together in one directory
-      - name: Create Artifact
-        run: |
-          mkdir -p CANBridge-artifacts
-          cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib
-          cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/CANBridge.dll
-          cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib
-          cp halWindows/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/wpiHal.dll
-          cp halWindows/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/wpiHal.lib
-          cp utilWindows/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/wpiutil.dll
-          cp utilWindows/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/wpiutil.lib
-
       # Upload build artifact
       - name: Upload build artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: CANBridge-${{ github.sha }}
-          path: CANBridge-artifacts/
+          path: headers-for-artifact
+          name: headers
+
+  # Upload version file, used for versioning
+  version:
+    runs-on: ubuntu-latest
+    name: "Version"
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.sha }}
+
+      - name: Setup Java
+        uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 11
 
-      # Upload version.txt
-      - name: Upload version artifact
-        uses: actions/upload-artifact@v3
+      - name: Setup Gradle
+        uses: gradle/actions/setup-gradle@v4
+
+      - name: Build
+        run: |
+          ./gradlew outputVersions -PreleaseMode
+
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
         with:
           name: version
-          path: build/allOutputs/version.txt
+          path: build/allOutputs/version.txt

.github/workflows/release.yml

@@ -3,72 +3,76 @@ name: Create release
 on:
   push:
     tags:
-      - 'v*'
+      - 'v**'
+
+permissions:
+  contents: write
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: false
 
 defaults:
   run:
     shell: bash
 
 jobs:
-  check-versions:
+  # Checks previous build workflow and gets the version from publish.gradle
+  check-build:
+    name: Check build and publish versions
     runs-on: ubuntu-latest
     outputs:
       TAG_NAME: ${{ env.TAG_NAME }}
       VERSION: ${{ steps.get_version.outputs.version }}
     steps:
-      - name: Wait for build to finish
-        uses: lewagon/[email protected].1
+      - name: Wait for build workflow to finish
+        uses: lewagon/[email protected].4
         with:
           ref: ${{ github.ref }}
-          check-name: 'build-windows64'
+          check-regexp: 'Build|WPILib Headers|Version'
           repo-token: ${{ secrets.GITHUB_TOKEN }}
           wait-interval: 10
-      - name: Get tag name
-        run: |
-          echo "TAG_NAME=${GITHUB_REF#refs/*/}" >> $GITHUB_ENV
 
       # Download artifacts from build workflow
       - name: Download workflow artifacts
-        uses: dawidd6/action-download-artifact@v2
+        uses: dawidd6/action-download-artifact@v6
         with:
           workflow: build.yml
           commit: ${{ github.sha }}
           path: '.'
 
       # Get publish.gradle version
       - name: Get publish.gradle version
-        id: get_version
+        id: get-version
         run: |
           echo "version=$(cat version/version.txt)" >> $GITHUB_OUTPUT
           echo "expectedTagName=v$(cat version/version.txt)" >> $GITHUB_OUTPUT
 
-      # Check publish.gradle version
-      - name: publish.gradle version check FAILED
-        if: ${{ steps.get_version.outputs.expectedTagName != env.TAG_NAME }}
-        run: |
-          echo Tag name: ${{ env.TAG_NAME }}
-          echo publish.gradle version: ${{ steps.get_version.outputs.version }}
-          exit 1
-
+  # Creates a release draft with the artifacts from the build workflow
   prepare-release:
+    name: Prepare release
     runs-on: ubuntu-latest
-    needs: check-versions
+    needs: check-build
     steps:
       # Download API, docs, and version.txt
       - name: Download workflow artifacts
-        uses: dawidd6/action-download-artifact@v2
+        uses: dawidd6/action-download-artifact@v6
         with:
           workflow: build.yml
           commit: ${{ github.sha }}
           path: '.'
+          skip_unpack: true
+
+      # This step is to check what files are downloaded and how they are structured, as well as binary sizes for releases
+      - name: List files
+        run: |
+          ls -Rlh
 
       # Create new release draft
       - name: Create release
-        id: create_release
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          VERSION=${{ needs.check-versions.outputs.version }}
-          TAG=v$VERSION
-          ls --recursive -l
-          gh release create $TAG CANBridge-${{ github.sha }}/* --repo $GITHUB_REPOSITORY --draft --title "Version $VERSION"
+        uses: softprops/action-gh-release@v2
+        with:
+          draft: true
+          generate_release_notes: true
+          files: |
+            **/**

config.gradle

@@ -8,7 +8,7 @@ nativeUtils {
       // When updating WPILib, be sure to also update wpiHalVersion.txt
       wpiVersion = "2023.+"
       niLibVersion = "2023.3.0"
-      googleTestVersion = "1.11.0-3"
+      googleTestVersion = "1.11.0-4"
     }
   }
 }