build-all-parallel.yml

# This is a faster workflow that parallelizes the jobs in a matrix so
# we can get faster results than waiting for the standard build_all_frc_projects
# powershell script

name: Build all FRC Projects

on:
  push:
    branches: [ "main" ]
  pull_request:
    branches: [ "main" ]

permissions:
  contents: read

jobs:
  build:

    strategy:
      fail-fast: false
      matrix:
        include:
          - project-name: 'ArcadeDrive'
            directory: 'cpp/ArcadeDrive'
          - project-name: 'BasicLatencyCompensation'
            directory: 'cpp/BasicLatencyCompensation'
          - project-name: 'CANcoder'
            directory: 'cpp/CANcoder'
          - project-name: 'CommandBasedDrive'
            directory: 'cpp/CommandBasedDrive'
          - project-name: 'ControlRequestLimits'
            directory: 'cpp/ControlRequestLimits'
          - project-name: 'CurrentLimits'
            directory: 'cpp/CurrentLimits'
          - project-name: 'FusedCANcoder'
            directory: 'cpp/FusedCANcoder'
          - project-name: 'MotionMagic'
            directory: 'cpp/MotionMagic'
          - project-name: 'PhoenixSysId'
            directory: 'cpp/PhoenixSysId'
          - project-name: 'Pigeon2'
            directory: 'cpp/Pigeon2'
          - project-name: 'PositionClosedLoop'
            directory: 'cpp/PositionClosedLoop'
          - project-name: 'Simulation'
            directory: 'cpp/Simulation'
          - project-name: 'VelocityClosedLoop'
            directory: 'cpp/VelocityClosedLoop'
          - project-name: 'WaitForAll'
            directory: 'cpp/WaitForAll'
          - project-name: 'ArcadeDrive'
            directory: 'java/ArcadeDrive'
          - project-name: 'BasicLatencyCompensation'
            directory: 'java/BasicLatencyCompensation'
          - project-name: 'CANcoder'
            directory: 'java/CANcoder'
          - project-name: 'CommandBasedDrive'
            directory: 'java/CommandBasedDrive'
          - project-name: 'ControlRequestLimits'
            directory: 'java/ControlRequestLimits'
          - project-name: 'CurrentLimits'
            directory: 'java/CurrentLimits'
          - project-name: 'FusedCANcoder'
            directory: 'java/FusedCANcoder'
          - project-name: 'MotionMagic'
            directory: 'java/MotionMagic'
          - project-name: 'PhoenixSysId'
            directory: 'java/PhoenixSysId'
          - project-name: 'Pigeon2'
            directory: 'java/Pigeon2'
          - project-name: 'PositionClosedLoop'
            directory: 'java/PositionClosedLoop'
          - project-name: 'Simulation'
            directory: 'java/Simulation'
          - project-name: 'SwerveWithPathPlanner'
            directory: 'java/SwerveWithPathPlanner'
          - project-name: 'VelocityClosedLoop'
            directory: 'java/VelocityClosedLoop'
          - project-name: 'WaitForAll'
            directory: 'java/WaitForAll'

    # The type of runner that the job will run on
    runs-on: ubuntu-latest

    # This grabs the WPILib docker container
    container: wpilib/roborio-cross-ubuntu:2024-22.04

    steps:
    - uses: actions/checkout@v4

    # Grant execute permission for gradlew
    - name: Grant execute permission for gradlew
      run: cd "${{ matrix.directory }}" && chmod +x gradlew

    # Runs a single command using the runners shell
    - name: Compile and run tests on robot code for project ${{ matrix.project-name }}
      run: cd "${{ matrix.directory }}" && ./gradlew build

  build-python:

    strategy:
      fail-fast: false
      matrix:
        python_version: ['3.9', '3.10', '3.11']
        os: ['ubuntu-22.04', 'macos-12', 'windows-2022']
        project-name: ['ArcadeDrive', 'CANcoder', 'MotionMagic', 'PhoenixSysId', 'PositionClosedLoop', 'StatusSignals', 'TalonFX', 'VelocityClosedLoop']

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

    steps:
    - uses: actions/checkout@v4
    - uses: actions/setup-python@v4
      with:
        python-version: ${{ matrix.python_version }}
    - name: Install python dependencies
      run: |
        pip install -U pip
        pip install -U --pre robotpy robotpy-commands-v2 robotpy-pathplannerlib phoenix6
    - name: Test ${{ matrix.project-name }}
      run: |
        cd "python/${{ matrix.project-name }}" && python3 -m robotpy test