[wpimath] Add ArmFeedforward calculate() overload that takes current and next velocity instead of acceleration #11570
Workflow file for this run
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name: Gradle | |
on: [pull_request, push] | |
concurrency: | |
group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} | |
cancel-in-progress: true | |
jobs: | |
build-docker: | |
strategy: | |
fail-fast: false | |
matrix: | |
include: | |
- container: wpilib/roborio-cross-ubuntu:2024-22.04 | |
artifact-name: Athena | |
build-options: "-Ponlylinuxathena" | |
- container: wpilib/raspbian-cross-ubuntu:bullseye-22.04 | |
artifact-name: Arm32 | |
build-options: "-Ponlylinuxarm32" | |
- container: wpilib/aarch64-cross-ubuntu:bullseye-22.04 | |
artifact-name: Arm64 | |
build-options: "-Ponlylinuxarm64" | |
- container: wpilib/ubuntu-base:22.04 | |
artifact-name: Linux | |
build-options: "-Ponlylinuxx86-64" | |
name: "Build - ${{ matrix.artifact-name }}" | |
runs-on: ubuntu-22.04 | |
steps: | |
- name: Free Disk Space | |
uses: jlumbroso/free-disk-space@main | |
with: | |
tool-cache: false | |
android: true | |
dotnet: true | |
haskell: true | |
large-packages: false | |
docker-images: false | |
swap-storage: false | |
- uses: actions/checkout@v4 | |
with: | |
fetch-depth: 0 | |
- name: Set release environment variable | |
run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV | |
if: startsWith(github.ref, 'refs/tags/v') | |
- name: Build with Gradle | |
uses: addnab/docker-run-action@v3 | |
with: | |
image: ${{ matrix.container }} | |
options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI | |
run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }} | |
env: | |
ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }} | |
ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }} | |
- name: Check free disk space | |
run: df . | |
- uses: actions/upload-artifact@v4 | |
with: | |
name: ${{ matrix.artifact-name }} | |
path: build/allOutputs | |
build-host: | |
env: | |
MACOSX_DEPLOYMENT_TARGET: 12 | |
strategy: | |
fail-fast: false | |
matrix: | |
include: | |
- os: windows-2022 | |
artifact-name: Win64Debug | |
architecture: x64 | |
task: "build" | |
build-options: "-PciDebugOnly" | |
outputs: "build/allOutputs" | |
build-dir: "c:\\work" | |
- os: windows-2022 | |
artifact-name: Win64Release | |
architecture: x64 | |
build-options: "-PciReleaseOnly" | |
task: "copyAllOutputs" | |
outputs: "build/allOutputs" | |
build-dir: "c:\\work" | |
- os: windows-2022 | |
artifact-name: WinArm64Debug | |
architecture: x64 | |
task: "build" | |
build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64" | |
outputs: "build/allOutputs" | |
build-dir: "c:\\work" | |
- os: windows-2022 | |
artifact-name: WinArm64Release | |
architecture: x64 | |
build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64" | |
task: "copyAllOutputs" | |
outputs: "build/allOutputs" | |
build-dir: "c:\\work" | |
- os: macOS-14 | |
artifact-name: macOS | |
architecture: aarch64 | |
task: "build" | |
outputs: "build/allOutputs" | |
build-dir: "." | |
- os: windows-2022 | |
artifact-name: Win32 | |
architecture: x86 | |
task: ":ntcoreffi:build" | |
outputs: "ntcoreffi/build/outputs" | |
build-dir: "c:\\work" | |
name: "Build - ${{ matrix.artifact-name }}" | |
runs-on: ${{ matrix.os }} | |
steps: | |
- uses: actions/checkout@v4 | |
with: | |
fetch-depth: 0 | |
- uses: actions/setup-java@v4 | |
with: | |
distribution: 'zulu' | |
java-version: 17 | |
architecture: ${{ matrix.architecture }} | |
- name: Import Developer ID Certificate | |
uses: wpilibsuite/import-signing-certificate@v1 | |
with: | |
certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }} | |
certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }} | |
keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }} | |
if: | | |
matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))) | |
- name: Set Keychain Lock Timeout | |
run: security set-keychain-settings -lut 3600 | |
if: | | |
matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))) | |
- name: Set release environment variable | |
run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV | |
shell: bash | |
if: startsWith(github.ref, 'refs/tags/v') | |
- name: Set Java Heap Size | |
run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties | |
if: matrix.artifact-name == 'Win32' | |
- name: Configure build directory (Windows) | |
run: xcopy . ${{ matrix.build-dir }} /i /s /e /h /q | |
if: matrix.os == 'windows-2022' | |
- name: Check disk free space (Windows) | |
run: wmic logicaldisk get caption, freespace | |
if: matrix.os == 'windows-2022' | |
- name: Build with Gradle | |
run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }} | |
working-directory: ${{ matrix.build-dir }} | |
env: | |
ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }} | |
ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }} | |
- name: Sign Libraries with Developer ID | |
run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }} | |
working-directory: ${{ matrix.build-dir }} | |
if: | | |
matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))) | |
- name: Check disk free space (Windows) | |
run: wmic logicaldisk get caption, freespace | |
if: matrix.os == 'windows-2022' | |
- uses: actions/upload-artifact@v4 | |
with: | |
name: ${{ matrix.artifact-name }} | |
path: ${{ matrix.build-dir }}/${{ matrix.outputs }} | |
build-documentation: | |
name: "Build - Documentation" | |
runs-on: ubuntu-22.04 | |
steps: | |
- uses: actions/checkout@v4 | |
with: | |
fetch-depth: 0 | |
- uses: actions/setup-java@v4 | |
with: | |
distribution: 'zulu' | |
java-version: 17 | |
- name: Set release environment variable | |
run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV | |
if: startsWith(github.ref, 'refs/tags/v') | |
- name: Build with Gradle | |
run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }} | |
env: | |
ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }} | |
ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }} | |
- uses: actions/upload-artifact@v4 | |
with: | |
name: Documentation | |
path: docs/build/outputs | |
combine: | |
name: Combine | |
needs: [build-docker, build-host, build-documentation] | |
runs-on: ubuntu-22.04 | |
steps: | |
- name: Free Disk Space | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
uses: jlumbroso/free-disk-space@main | |
with: | |
tool-cache: false | |
android: true | |
dotnet: true | |
haskell: true | |
large-packages: false | |
docker-images: false | |
swap-storage: false | |
- uses: actions/checkout@v4 | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
with: | |
repository: wpilibsuite/build-tools | |
- uses: actions/download-artifact@v4 | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
with: | |
path: combiner/products/build/allOutputs | |
- name: Flatten Artifacts | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/ | |
- name: Check version number exists | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
run: | | |
cat combiner/products/build/allOutputs/version.txt | |
test -s combiner/products/build/allOutputs/version.txt | |
- uses: actions/setup-java@v4 | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
with: | |
distribution: 'zulu' | |
java-version: 17 | |
- name: Combine (Main) | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
github.ref == 'refs/heads/main' | |
run: cd combiner && ./gradlew publish -Pallwpilib | |
env: | |
RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE" | |
ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }} | |
ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }} | |
- name: Combine (Release) | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
startsWith(github.ref, 'refs/tags/v') | |
run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish | |
env: | |
RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE" | |
ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }} | |
ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }} | |
- uses: actions/upload-artifact@v4 | |
if: | | |
github.repository_owner == 'wpilibsuite' && | |
(github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) | |
with: | |
name: Maven | |
path: ~/releases |