Cross compile for Linux arm64, unify build matrix, and use WPILib directory layout

.github/workflows/main.yml

@@ -10,9 +10,6 @@ on:
 
 env:
   BUILD_TYPE: Release
-  # Keep in sync with
-  # https://github.com/PhotonVision/photonvision/blob/main/.github/workflows/build.yml
-  IMAGE_VERSION: v2026.0.3
 
 jobs:
   build-host:
@@ -22,12 +19,17 @@ jobs:
         include:
           - os: ubuntu-22.04
             arch-name: linuxx86-64
+          - os: ubuntu-22.04-arm
+            arch-name: linuxarm64
+          - os: windows-latest
+            arch-name: windowsx86-64
+            extra-flags: -DCMAKE_CXX_COMPILER=clang-cl -DCMAKE_C_COMPILER=clang-cl
 
     runs-on: ${{ matrix.os }}
     name: "mrcal-jni - Build - ${{ matrix.arch-name }}"
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v5
       with:
         submodules: 'true'
         fetch-depth: 0
@@ -37,110 +39,21 @@ jobs:
     - run: git describe --tags
 
     - name: Install Java 17
-      uses: actions/setup-java@v3
+      uses: actions/setup-java@v5
       with:
         java-version: 17
         distribution: temurin
 
-    - name: Setup cmake
-      uses: jwlawson/actions-setup-cmake@v1.13
-
     - name: Install deps
+      if: runner.os == 'Linux'
       run: |
-        sudo bash -c "echo 'deb [trusted=yes] http://mrcal.secretsauce.net/packages/jammy/public/ jammy main' >> /etc/apt/sources.list"
         sudo apt update
-        sudo apt-get install -y cmake gcc g++ liblist-moreutils-perl
+        sudo apt-get install -y cmake ninja-build gcc g++ liblist-moreutils-perl
 
     - name: Configure CMake
       # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
       # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: cmake -B ${{github.workspace}}/cmake_build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DOPENCV_ARCH=${{ matrix.arch-name }}
-
-    - name: Build shared mrcal_jni
-      # Build your program with the given configuration
-      run: cmake --build ${{github.workspace}}/cmake_build --config ${{env.BUILD_TYPE}} ${{ (startsWith(matrix.arch-name, 'windowx86-64') && '--config Release') || '' }} -j --target mrcal_jni
-
-    - name: Gradle build
-      # Build your program with the given configuration
-      run: ./gradlew build
-
-    - run: ./gradlew publish
-      name: Publish
-      env:
-        ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-      if: github.event_name == 'push'
-
-    - uses: actions/upload-artifact@v4
-      with:
-        name: libmrcal-jar-${{ matrix.arch-name }}
-        path: |
-          ${{ github.workspace }}/build/libs/*.jar
-
-  build-raspi:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: 'true'
-        fetch-depth: 0
-    - name: Fetch tags
-      run: git fetch --tags --force
-    - run: git describe --tags
-    - uses: pguyot/arm-runner-action@v2
-      with:
-        base_image: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
-        cpu: cortex-a7
-        image_additional_mb: 5000
-        bind_mount_repository: true
-        # Mark kernel packages as held to avoid automatic updates (which don't work in a chroot)
-        commands: |
-          sudo bash -c "echo 'deb [trusted=yes] http://mrcal.secretsauce.net/packages/jammy/public/ jammy main' >> /etc/apt/sources.list"
-          sudo apt-get update
-          sudo apt-mark hold 'linux-image-*'
-          sudo apt-get install --no-install-recommends cmake default-jdk default-jre git gcc g++ liblist-moreutils-perl ninja-build -y
-          cmake -B cmake_build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DOPENCV_ARCH=linuxarm64 -G Ninja
-          cmake --build cmake_build --config ${{env.BUILD_TYPE}} -j --target mrcal_jni
-
-    - run: |
-        ./gradlew build ${{ (startsWith(github.event_name, 'push') && 'publish') || '' }} -PArchOverride=linuxarm64
-      env:
-        ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-
-    - uses: actions/upload-artifact@v4
-      name: Upload jar
-      with:
-        name: libmrcal-jar-pi
-        path: ${{ github.workspace }}/build/libs/*.jar
-
-  build-windows:
-    runs-on: windows-latest
-
-    name: "mrcal-jni - Build - Windows"
-
-    env:
-      BUILD_TYPE: "Release"
-
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: 'true'
-        fetch-depth: 0
-
-    - name: Fetch tags
-      run: git fetch --tags --force
-    - run: git describe --tags
-
-    - name: Install Java 17
-      uses: actions/setup-java@v3
-      with:
-        java-version: 17
-        distribution: temurin
-
-    - name: Setup cmake
-      uses: jwlawson/actions-setup-cmake@v1.13
-
-    - name: Configure CMake
-      run: cmake -B ${{github.workspace}}/cmake_build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DOPENCV_ARCH=windowsx86-64 -DCMAKE_CXX_COMPILER=clang-cl -DCMAKE_C_COMPILER=clang-cl -G Ninja
+      run: cmake -B ${{github.workspace}}/cmake_build -G Ninja -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DOPENCV_ARCH=${{ matrix.arch-name }} ${{ matrix.extra-flags }}
 
     - name: Build shared mrcal_jni
       # Build your program with the given configuration
@@ -156,18 +69,18 @@ jobs:
         ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
       if: github.event_name == 'push'
 
-    - uses: actions/upload-artifact@v4
+    - uses: actions/upload-artifact@v5
       with:
-        name: libmrcal-jar-windowsx64
+        name: libmrcal-jar-${{ matrix.arch-name }}
         path: ${{ github.workspace }}/build/libs/*.jar
 
   release:
-    needs: [build-host, build-raspi, build-windows]
+    needs: build-host
     runs-on: ubuntu-22.04
     steps:
       # Download literally every single artifact. This also downloads client and docs,
       # but the filtering below won't pick these up (I hope)
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v5
 
       - run: find
 

README.md

@@ -5,11 +5,9 @@ See: http://mrcal.secretsauce.net/install.html
 - Install cmake
 
 ```
-sudo apt install cmake gcc g++ libmrcal-dev mrbuild libsuitesparse-dev
+sudo apt install cmake gcc g++ libmrcal-dev
 cmake -B build . # You may need to add JAVA_HOME=/path/to/java
 cmake --build build
 ```
 
-For windows: `cmake -B build -S . -T ClangCl -A x64 -G "Visual Studio 17 2022" -DCMAKE_TOOLCHAIN_FILE="vcpkg/scripts/buildsystems/vcpkg.cmake"`
-
-and cvpkg install suitesparse:x64-windows
+For windows: `cmake -B build -S . -T ClangCl -A x64 -G "Visual Studio 17 2022"

build.gradle

@@ -57,21 +57,16 @@ test {
     useJUnitPlatform()
 }
 
-ext.nativeName = wpilibTools.platformMapper.currentPlatform.platformName;
+ext.nativeName = wpilibTools.platformMapper.currentPlatform.platformName.replace('win', 'windows/').replace('mac', 'osx/').replace('linux', 'linux/').replace('x64', 'x86-64');
 ext.outputsFolder = file("$buildDir/outputs")
 
 println("Building for $nativeName")
 
 tasks.register('copyNativeLibrary', Sync) {
     from "${projectDir}/cmake_build/bin/"
     from "${projectDir}/cmake_build/lib/"
-    into "${outputsFolder}/nativelibraries/${nativeName}/"
+    into "${outputsFolder}/${nativeName}/"
     include "**/*.dll", "**/*.so"
-
-    // And flatten, since windows is stupid
-    eachFile {
-      path = name
-    }
     includeEmptyDirs = false
 
     build.dependsOn it