From 472e809e490be2fb1a7888449b2b7c95173a922c Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Mon, 8 Jan 2024 21:14:26 -0500
Subject: [PATCH 01/23] Added manual partition management to ensure OrangePi
 can use temp folder

---
 scripts/generatePiImage.sh | 23 ++++++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index b068a2ea48..13c7e43431 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -34,8 +34,29 @@ fi
 echo "Unziped image: " $IMAGE_FILE " -- mounting"
 TMP=$(mktemp -d)
 LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
+PARTITION="${LOOP}p2"
+
+echo "Confirming that loop partition exists"
+if ! lsblk | grep -q "$(basename $PARTITION)"; then
+    echo "Loop device was not found in lsblk output."
+    sudo parted $LOOP mklabel msdos
+
+    sudo parted $LOOP mkpart primary ext4 0% 50%
+    sudo mkfs.ext4 "${LOOP}p1"
+
+    sudo parted $LOOP mkpart primary ext4 50% 100%
+    sudo mkfs.ext4 $PARTITION
+
+    if ! lsblk | grep -q "$(basename $PARTITION)"; then
+        echo "Failed to create partition. Exiting."
+	    exit 1
+    fi
+
+    echo "Created loop device partition"
+fi
+
 echo "Image mounted! Copying jar..."
-sudo mount ${LOOP}p2 $TMP
+sudo mount $PARTITION $TMP
 pushd .
 cd $TMP/opt/photonvision
 sudo cp $NEW_JAR photonvision.jar

From c70e5ca216e6254bcaaa470965cf1030b63134b6 Mon Sep 17 00:00:00 2001
From: Judson James <judsonjames96@gmail.com>
Date: Mon, 8 Jan 2024 21:27:48 -0500
Subject: [PATCH 02/23] Create orangepi-image-generation.yml

---
 .../workflows/orangepi-image-generation.yml   | 332 ++++++++++++++++++
 1 file changed, 332 insertions(+)
 create mode 100644 .github/workflows/orangepi-image-generation.yml

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
new file mode 100644
index 0000000000..0b627bbd95
--- /dev/null
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -0,0 +1,332 @@
+name: Build
+
+on:
+  push:
+    branches: [ fixes/orangepi-image-generation ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ fixes/orangepi-image-generation ]
+
+jobs:
+  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: 18
+      - 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:
+    name: "Build Examples"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      # Need to publish to maven local first, so that C++ sim can pick it up
+      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
+      - name: Publish photonlib to maven local
+        run: |
+          chmod +x gradlew
+          ./gradlew publishtomavenlocal -x check
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew build -x check --max-workers 2
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew build -x check --max-workers 2
+  build-gradle:
+    name: "Gradle Build"
+    runs-on: ubuntu-22.04
+    steps:
+      # Checkout code.
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      - name: Install mrcal deps
+        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
+      - name: Gradle Build
+        run: |
+          chmod +x gradlew
+          ./gradlew build -x check --max-workers 2
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
+      - name: Gradle Coverage
+        run: ./gradlew jacocoTestReport --max-workers 1
+      - name: Publish Coverage Report
+        uses: codecov/codecov-action@v3
+        with:
+          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
+      - name: Publish Core Coverage Report
+        uses: codecov/codecov-action@v3
+        with:
+          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+  build-offline-docs:
+    name: "Build Offline Docs"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: 'PhotonVision/photonvision-docs.git'
+          ref: master
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.9'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
+          pip install -r requirements.txt
+      - name: Build the docs
+        run: |
+          make html
+      - uses: actions/upload-artifact@master
+        with:
+          name: built-docs
+          path: build/html
+  build-photonlib-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 12
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64
+            architecture: x64
+          - os: macos-12
+            artifact-name: macOS
+            architecture: x64
+          - os: ubuntu-22.04
+            artifact-name: Linux
+
+    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - run: git fetch --tags --force
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
+        name: Publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+  build-photonlib-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+            artifact-name: Athena
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: Raspbian
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: Aarch64
+
+    runs-on: ubuntu-22.04
+    container: ${{ matrix.container }}
+    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Config Git
+        run: |
+          git config --global --add safe.directory /__w/photonvision/photonvision
+      - name: Build PhotonLib
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - name: Publish
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:publish photon-targeting:publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+  build-package:
+    needs: [build-client, build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+            architecture: x64
+            arch-override: none
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: x64
+            arch-override: none
+          - os: ubuntu-latest
+            artifact-name: Linux
+            architecture: x64
+            arch-override: none
+          - os: macos-latest
+            artifact-name: macOSArm
+            architecture: x64
+            arch-override: macarm64
+          - os: ubuntu-latest
+            artifact-name: LinuxArm32
+            architecture: x64
+            arch-override: linuxarm32
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            architecture: x64
+            arch-override: linuxarm64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - 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: ${{ (matrix.os) == 'windows-latest' }}
+      - uses: actions/download-artifact@v4
+        with:
+          name: built-client
+          path: photon-server/src/main/resources/web/
+      - uses: actions/download-artifact@v4
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
+        if: ${{ (matrix.arch-override != 'none') }}
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2
+        if: ${{ (matrix.arch-override == 'none') }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+          path: photon-server/build/libs
+  build-image:
+    needs: [build-package]
+
+    if: ${{ github.event_name != 'pull_request' }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: RaspberryPi
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: limelight2
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+
+    runs-on: ${{ matrix.os }}
+    name: "Build image - ${{ matrix.image_url }}"
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
+      - name: Generate image
+        run: |
+          chmod +x scripts/generatePiImage.sh
+          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+      - uses: actions/upload-artifact@v4
+        name: Upload image
+        with:
+          name: image-${{ matrix.image_suffix }}
+          path: photonvision*.xz
+  release:
+    needs: [build-package, build-image]
+    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
+      - run: find
+      # Push to dev release
+      - uses: pyTooling/Actions/releaser@r0
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          tag: 'Dev'
+          rm: true
+          files: |
+            **/*.xz
+            **/*.jar
+        if: github.event_name == 'push'
+      # Upload all jars and xz archives
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: |
+            **/*.xz
+            **/*.jar
+        if: startsWith(github.ref, 'refs/tags/v')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 6ec7c5eaa33e5b2f41af72c56cc88a5bfb94bee7 Mon Sep 17 00:00:00 2001
From: Judson James <judsonjames96@gmail.com>
Date: Mon, 8 Jan 2024 21:53:09 -0500
Subject: [PATCH 03/23] Temporarily force images to be build

---
 .github/workflows/orangepi-image-generation.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index 0b627bbd95..f584debb54 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -263,7 +263,7 @@ jobs:
   build-image:
     needs: [build-package]
 
-    if: ${{ github.event_name != 'pull_request' }}
+    # if: ${{ github.event_name != 'pull_request' }}
 
     strategy:
       fail-fast: false

From 682b770e95b5d7f68607a386e3bb095421009ddf Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Mon, 8 Jan 2024 23:36:38 -0500
Subject: [PATCH 04/23] Add functions for pushd and popd since OPi5 image
 doesn't have them

---
 scripts/generatePiImage.sh | 59 ++++++++++++++++++++++++++++++++------
 1 file changed, 51 insertions(+), 8 deletions(-)

diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index 13c7e43431..468e7fdff9 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -6,6 +6,32 @@ fi
 # 1st arg should be the release to download the image template from. The release ought to only have one
 # artifact for a "xz" image.
 
+# These are workarounds for the OrangePi. The current image does not use `pushd`, `popd` or `dirs`.
+DIR_STACK=""
+
+opi_pushd() {
+    if [ $# -eq 0 ]; then
+        echo "Directory stack:"
+	    for dir in ${DIR_STACK[@]}; do
+	        echo "- $dir"
+	    done
+    else
+        DIR_STACK="$DIR_STACK $PWD"
+	    cd "$1"
+    fi
+}
+
+opi_popd() {
+    if [ -z $DIR_STACK ]; then
+        echo "No directories"
+    else
+        LAST_ITEM=$(echo "$my_list" | awk '{print $NF}')
+	    POPPED_LIST="${DIR_STACK% *}"
+        cd "$LAST_ITEM"
+	    DIR_STACK=$POPPED_LIST
+    fi
+}
+
 NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
 echo "Using jar: " $NEW_JAR
 echo "Downloading image from" $1
@@ -41,15 +67,15 @@ if ! lsblk | grep -q "$(basename $PARTITION)"; then
     echo "Loop device was not found in lsblk output."
     sudo parted $LOOP mklabel msdos
 
-    sudo parted $LOOP mkpart primary ext4 0% 50%
-    sudo mkfs.ext4 "${LOOP}p1"
+    sudo parted $LOOP mkpart primary ext4 0% 50% > /dev/null 2>&1
+    sudo mkfs.ext4 "${LOOP}p1" > /dev/null 2>&1
 
-    sudo parted $LOOP mkpart primary ext4 50% 100%
-    sudo mkfs.ext4 $PARTITION
+    sudo parted $LOOP mkpart primary ext4 50% 100% > /dev/null 2>&1
+    sudo mkfs.ext4 $PARTITION > /dev/null 2>&1
 
     if ! lsblk | grep -q "$(basename $PARTITION)"; then
         echo "Failed to create partition. Exiting."
-	    exit 1
+        exit 1
     fi
 
     echo "Created loop device partition"
@@ -57,13 +83,30 @@ fi
 
 echo "Image mounted! Copying jar..."
 sudo mount $PARTITION $TMP
+
+
+DIR_STACK=""
+if ! command -v pushd > /dev/null 2>&1; then
+    alias pushd='opi_pushd'
+fi
+
+if ! command -v popd > /dev/null 2>&1; then
+    alias popd='opi_popd'
+fi
+
 pushd .
-cd $TMP/opt/photonvision
+
+DEST_PV_LOCATION=$TMP/opt/photonvision
+
+sudo mkdir -p $DEST_PV_LOCATION
+cd $DEST_PV_LOCATION
 sudo cp $NEW_JAR photonvision.jar
 
 echo "Jar updated! Creating service..."
 
-cd $TMP/etc/systemd/system/multi-user.target.wants
+DEST_TARGET_WANTS=$TMP/etc/systemd/system/multi-user.target.wants
+sudo mkdir -p $DEST_TARGET_WANTS
+cd $DEST_TARGET_WANTS
 sudo bash -c "printf \
 \"[Unit]
 Description=Service that runs PhotonVision
@@ -89,4 +132,4 @@ NEW_IMAGE=$(basename "${NEW_JAR/.jar/_$2.img}")
 echo "Renaming image " $IMAGE_FILE " -> " $NEW_IMAGE
 mv $IMAGE_FILE $NEW_IMAGE
 xz -T0 -v -z $NEW_IMAGE
-mv $NEW_IMAGE.xz $(basename "${NEW_JAR/.jar/-image_$2.xz}")
+mv $NEW_IMAGE.xz $(basename "${NEW_JAR/.jar/-image_$2.xz}")
\ No newline at end of file

From ef81a7c44fac28a36272e9169ad05484a4e83e39 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 00:09:13 -0500
Subject: [PATCH 05/23] Add logging to help figure out what's silently failing
 in CI

---
 scripts/generatePiImage.sh | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index 468e7fdff9..8c8233079a 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -12,12 +12,14 @@ DIR_STACK=""
 opi_pushd() {
     if [ $# -eq 0 ]; then
         echo "Directory stack:"
-	    for dir in ${DIR_STACK[@]}; do
+	    for dir in $DIR_STACK; do
 	        echo "- $dir"
 	    done
     else
         DIR_STACK="$DIR_STACK $PWD"
-	    cd "$1"
+	    cd "$1" || return
+        # debugging only
+        echo "Added ${1} to the directory stack"
     fi
 }
 
@@ -27,6 +29,11 @@ opi_popd() {
     else
         LAST_ITEM=$(echo "$my_list" | awk '{print $NF}')
 	    POPPED_LIST="${DIR_STACK% *}"
+
+        # debugging only
+        echo "Removed ${LAST_ITEM} from the directory stack."
+        echo "Reassigning the DIR_STACK to `$POPPED_LIST`"
+
         cd "$LAST_ITEM"
 	    DIR_STACK=$POPPED_LIST
     fi
@@ -64,7 +71,7 @@ PARTITION="${LOOP}p2"
 
 echo "Confirming that loop partition exists"
 if ! lsblk | grep -q "$(basename $PARTITION)"; then
-    echo "Loop device was not found in lsblk output."
+    echo "Loop device was not found in lsblk output. Creating it now."
     sudo parted $LOOP mklabel msdos
 
     sudo parted $LOOP mkpart primary ext4 0% 50% > /dev/null 2>&1

From 22788b7705fb38aba0bca6e010ccbadee34ec86f Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 00:20:15 -0500
Subject: [PATCH 06/23] Update ARM builds to use ARM Builder

---
 .github/workflows/orangepi-image-generation.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index f584debb54..cb715701fd 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -294,7 +294,8 @@ jobs:
         with:
           name: jar-${{ matrix.artifact-name }}
       # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - name: Generate image
+      - uses: pguyot/arm-runner-action@v2
+        name: Generate image
         run: |
           chmod +x scripts/generatePiImage.sh
           ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}

From af873140ca6e65fc94083efea608f4458b127575 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 00:24:39 -0500
Subject: [PATCH 07/23] Fix arm-runner-action syntax

---
 .github/workflows/orangepi-image-generation.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index cb715701fd..21d38eb32e 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -296,9 +296,10 @@ jobs:
       # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
       - uses: pguyot/arm-runner-action@v2
         name: Generate image
-        run: |
-          chmod +x scripts/generatePiImage.sh
-          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+        with: 
+          commands: |
+            chmod +x scripts/generatePiImage.sh
+            ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:

From 3eaf33680f22d87ab88965a92d216c56b31ca3a3 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 00:50:07 -0500
Subject: [PATCH 08/23] Logging

---
 .github/workflows/orangepi-image-generation.yml | 10 ++++------
 scripts/generatePiImage.sh                      |  3 ++-
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index 21d38eb32e..f584debb54 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -294,12 +294,10 @@ jobs:
         with:
           name: jar-${{ matrix.artifact-name }}
       # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - uses: pguyot/arm-runner-action@v2
-        name: Generate image
-        with: 
-          commands: |
-            chmod +x scripts/generatePiImage.sh
-            ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+      - name: Generate image
+        run: |
+          chmod +x scripts/generatePiImage.sh
+          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:
diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index 8c8233079a..8050a30ead 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -92,12 +92,13 @@ echo "Image mounted! Copying jar..."
 sudo mount $PARTITION $TMP
 
 
-DIR_STACK=""
 if ! command -v pushd > /dev/null 2>&1; then
+    echo "Overwriting pushd because it doesn't exist."
     alias pushd='opi_pushd'
 fi
 
 if ! command -v popd > /dev/null 2>&1; then
+    echo "Overwriting popd because it doesn't exist."
     alias popd='opi_popd'
 fi
 

From e76035bcba15ce5c5638e86e814890c2b93b9644 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 01:09:45 -0500
Subject: [PATCH 09/23] Testing ARM Runner with base commands

---
 .../workflows/orangepi-image-generation.yml   | 11 +++--
 scripts/generatePiImage.sh                    | 44 +++++++++----------
 2 files changed, 29 insertions(+), 26 deletions(-)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index f584debb54..4ddffb87cc 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -294,10 +294,13 @@ jobs:
         with:
           name: jar-${{ matrix.artifact-name }}
       # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - name: Generate image
-        run: |
-          chmod +x scripts/generatePiImage.sh
-          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+      - uses: pguyot/arm-runner-action@v2
+        name: Generate image
+        with: 
+          base_image: ${{ matrix.image_url }}
+          commands: |
+            chmod +x scripts/generatePiImage.sh
+            ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:
diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index 8050a30ead..d6ee8e507a 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -69,38 +69,38 @@ TMP=$(mktemp -d)
 LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
 PARTITION="${LOOP}p2"
 
-echo "Confirming that loop partition exists"
-if ! lsblk | grep -q "$(basename $PARTITION)"; then
-    echo "Loop device was not found in lsblk output. Creating it now."
-    sudo parted $LOOP mklabel msdos
+# echo "Confirming that loop partition exists"
+# if ! lsblk | grep -q "$(basename $PARTITION)"; then
+#     echo "Loop device was not found in lsblk output. Creating it now."
+#     sudo parted $LOOP mklabel msdos
 
-    sudo parted $LOOP mkpart primary ext4 0% 50% > /dev/null 2>&1
-    sudo mkfs.ext4 "${LOOP}p1" > /dev/null 2>&1
+#     sudo parted $LOOP mkpart primary ext4 0% 50% > /dev/null 2>&1
+#     sudo mkfs.ext4 "${LOOP}p1" > /dev/null 2>&1
 
-    sudo parted $LOOP mkpart primary ext4 50% 100% > /dev/null 2>&1
-    sudo mkfs.ext4 $PARTITION > /dev/null 2>&1
+#     sudo parted $LOOP mkpart primary ext4 50% 100% > /dev/null 2>&1
+#     sudo mkfs.ext4 $PARTITION > /dev/null 2>&1
 
-    if ! lsblk | grep -q "$(basename $PARTITION)"; then
-        echo "Failed to create partition. Exiting."
-        exit 1
-    fi
+#     if ! lsblk | grep -q "$(basename $PARTITION)"; then
+#         echo "Failed to create partition. Exiting."
+#         exit 1
+#     fi
 
-    echo "Created loop device partition"
-fi
+#     echo "Created loop device partition"
+# fi
 
 echo "Image mounted! Copying jar..."
 sudo mount $PARTITION $TMP
 
 
-if ! command -v pushd > /dev/null 2>&1; then
-    echo "Overwriting pushd because it doesn't exist."
-    alias pushd='opi_pushd'
-fi
+# if ! command -v pushd > /dev/null 2>&1; then
+#     echo "Overwriting pushd because it doesn't exist."
+#     alias pushd='opi_pushd'
+# fi
 
-if ! command -v popd > /dev/null 2>&1; then
-    echo "Overwriting popd because it doesn't exist."
-    alias popd='opi_popd'
-fi
+# if ! command -v popd > /dev/null 2>&1; then
+#     echo "Overwriting popd because it doesn't exist."
+#     alias popd='opi_popd'
+# fi
 
 pushd .
 

From 0a10ae9c85f2b71b86a1796618bbb6607c86f76a Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 01:23:56 -0500
Subject: [PATCH 10/23] Testing ARM Runner with DietPi

---
 .github/workflows/orangepi-image-generation.yml | 2 +-
 scripts/generatePiImage.sh                      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index 4ddffb87cc..514b905ff2 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -1,4 +1,4 @@
-name: Build
+name: "OPi Test Build"
 
 on:
   push:
diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index d6ee8e507a..f3d7bb188e 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -27,7 +27,7 @@ opi_popd() {
     if [ -z $DIR_STACK ]; then
         echo "No directories"
     else
-        LAST_ITEM=$(echo "$my_list" | awk '{print $NF}')
+        LAST_ITEM=$(echo "$DIR_STACK" | awk '{print $NF}')
 	    POPPED_LIST="${DIR_STACK% *}"
 
         # debugging only

From 410767bb7ff8b53f9bfeec4af25019ee810057d1 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 01:42:10 -0500
Subject: [PATCH 11/23] Testing ARM Runner with Minimal Install Script

---
 .../workflows/orangepi-image-generation.yml   |  6 ++--
 scripts/arm_runner_installer.sh               | 30 +++++++++++++++++++
 2 files changed, 34 insertions(+), 2 deletions(-)
 create mode 100644 scripts/arm_runner_installer.sh

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index 514b905ff2..977e813bab 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -299,8 +299,10 @@ jobs:
         with: 
           base_image: ${{ matrix.image_url }}
           commands: |
-            chmod +x scripts/generatePiImage.sh
-            ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+            chmod +x scripts/arm_runner_installer.sh
+            ./scripts/arm_runner_installer.sh
+            # chmod +x scripts/generatePiImage.sh
+            # ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:
diff --git a/scripts/arm_runner_installer.sh b/scripts/arm_runner_installer.sh
new file mode 100644
index 0000000000..e53d6dcc35
--- /dev/null
+++ b/scripts/arm_runner_installer.sh
@@ -0,0 +1,30 @@
+###
+# Alternative ARM Runner installer to setup PhotonVision service files and JAR.
+###
+
+NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+echo "Using jar: " $NEW_JAR
+
+DEST_PV_LOCATION=/etc/photonvision
+sudo mkdir -p $DEST_PV_LOCATION
+sudo cp $NEW_JAR ${DEST_PV_LOCATION}/photonvision.jar
+
+TARGET_WANTS=/etc/systemd/system/multi-user.target.wants
+sudo mkdir -p $TARGET_WANTS
+cd $TARGET_WANTS
+sudo bash -c "printf \
+\"[Unit]
+Description=Service that runs PhotonVision
+
+[Service]
+WorkingDirectory=/opt/photonvision
+ExecStart=/usr/bin/java -Xmx512m -jar /opt/photonvision/photonvision.jar
+ExecStop=/bin/systemctl kill photonvision
+Type=simple
+Restart=on-failure
+RestartSec=1
+
+[Install]
+WantedBy=multi-user.target\" > photonvision.service"
+
+echo "Service created!"
\ No newline at end of file

From dcc1d720203dcb4071292c7067cc8a7248ebe3b4 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 02:05:09 -0500
Subject: [PATCH 12/23] Add Compression step to get .xz images

---
 scripts/arm_runner_installer.sh |  1 +
 scripts/generatePiImage.sh      | 16 ++++++++--------
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/scripts/arm_runner_installer.sh b/scripts/arm_runner_installer.sh
index e53d6dcc35..eb31833b07 100644
--- a/scripts/arm_runner_installer.sh
+++ b/scripts/arm_runner_installer.sh
@@ -1,6 +1,7 @@
 ###
 # Alternative ARM Runner installer to setup PhotonVision service files and JAR.
 ###
+echo "[INFO] Using ARM Runner minimal instruction set"
 
 NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
 echo "Using jar: " $NEW_JAR
diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index f3d7bb188e..d47ba23781 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -92,15 +92,15 @@ echo "Image mounted! Copying jar..."
 sudo mount $PARTITION $TMP
 
 
-# if ! command -v pushd > /dev/null 2>&1; then
-#     echo "Overwriting pushd because it doesn't exist."
-#     alias pushd='opi_pushd'
-# fi
+if ! command -v pushd > /dev/null 2>&1; then
+    echo "Overwriting pushd because it doesn't exist."
+    alias pushd='opi_pushd'
+fi
 
-# if ! command -v popd > /dev/null 2>&1; then
-#     echo "Overwriting popd because it doesn't exist."
-#     alias popd='opi_popd'
-# fi
+if ! command -v popd > /dev/null 2>&1; then
+    echo "Overwriting popd because it doesn't exist."
+    alias popd='opi_popd'
+fi
 
 pushd .
 

From 5f18d0e4d3f9762756c8a149d752dcaac17f2e21 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 02:23:46 -0500
Subject: [PATCH 13/23] Attempt to fix CPU lookup for OrangePi

---
 .github/workflows/orangepi-image-generation.yml | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index 977e813bab..e14fb08204 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -273,14 +273,17 @@ jobs:
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+            cpu: cortex-a7
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight2
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+            cpu: cortex-a7
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: orangepi5
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+            cpu: cortex-a8
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -296,13 +299,22 @@ jobs:
       # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
       - uses: pguyot/arm-runner-action@v2
         name: Generate image
+        id: generate_image
         with: 
           base_image: ${{ matrix.image_url }}
+          image_additional_mb: 8196
+          cpu: ${{ matrix.cpu }}
           commands: |
             chmod +x scripts/arm_runner_installer.sh
             ./scripts/arm_runner_installer.sh
             # chmod +x scripts/generatePiImage.sh
             # ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+      - name: Compress image
+        run: |
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_$2.img}")
+          mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -v $new_image_name
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:

From 6d35346044123442b72b7548b263abee2df0051f Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 02:50:19 -0500
Subject: [PATCH 14/23] Re-enforce logging and reduce size of final XZ images

---
 .github/workflows/orangepi-image-generation.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index e14fb08204..b455a05d67 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -302,7 +302,7 @@ jobs:
         id: generate_image
         with: 
           base_image: ${{ matrix.image_url }}
-          image_additional_mb: 8196
+          optimize_image: yes
           cpu: ${{ matrix.cpu }}
           commands: |
             chmod +x scripts/arm_runner_installer.sh
@@ -312,7 +312,8 @@ jobs:
       - name: Compress image
         run: |
           new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-          new_image_name=$(basename "${new_jar/.jar/_$2.img}")
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          echo "[INFO] installed the following version :: $new_jar"
           mv ${{ steps.generate_image.outputs.image }} $new_image_name
           sudo xz -T 0 -v $new_image_name
       - uses: actions/upload-artifact@v4

From c72da436e1fe9612c0e6a759720b6153df63b175 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 03:11:20 -0500
Subject: [PATCH 15/23] Re-re-enlarge OPi build to make passing build

---
 .github/workflows/orangepi-image-generation.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index b455a05d67..0d4259a7db 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -274,16 +274,19 @@ jobs:
             image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
             cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight2
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
             cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: orangepi5
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
             cpu: cortex-a8
+            image_additional_mb: 4096
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -302,6 +305,7 @@ jobs:
         id: generate_image
         with: 
           base_image: ${{ matrix.image_url }}
+          image_additional_mb: 4096
           optimize_image: yes
           cpu: ${{ matrix.cpu }}
           commands: |

From 28400cd0961f5921255111ddd473a420c88e3c1b Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 03:38:13 -0500
Subject: [PATCH 16/23] Fix where the PhotonVision JAR lives

---
 scripts/arm_runner_installer.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/arm_runner_installer.sh b/scripts/arm_runner_installer.sh
index eb31833b07..33339a579d 100644
--- a/scripts/arm_runner_installer.sh
+++ b/scripts/arm_runner_installer.sh
@@ -4,9 +4,9 @@
 echo "[INFO] Using ARM Runner minimal instruction set"
 
 NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-echo "Using jar: " $NEW_JAR
+echo "Using jar: " $(basename $NEW_JAR)
 
-DEST_PV_LOCATION=/etc/photonvision
+DEST_PV_LOCATION=/opt/photonvision
 sudo mkdir -p $DEST_PV_LOCATION
 sudo cp $NEW_JAR ${DEST_PV_LOCATION}/photonvision.jar
 

From af47c7633af1b63d6c133a261d7992fcfa519f0f Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 04:13:23 -0500
Subject: [PATCH 17/23] Revert unneeded files. Cleanup repo before review.

---
 .github/workflows/build.yml                   |  26 +-
 .../workflows/orangepi-image-generation.yml   | 354 ------------------
 .../{arm_runner_installer.sh => armrunner.sh} |   5 +-
 scripts/generatePiImage.sh                    |  78 +---
 4 files changed, 27 insertions(+), 436 deletions(-)
 delete mode 100644 .github/workflows/orangepi-image-generation.yml
 rename scripts/{arm_runner_installer.sh => armrunner.sh} (91%)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 4f8606189d..48750bef58 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -273,14 +273,20 @@ jobs:
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight2
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: orangepi5
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 4096
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -293,11 +299,23 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ matrix.artifact-name }}
-      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - name: Generate image
+      - uses: pguyot/arm-runner-action@v2
+        name: Generate image
+        id: generate_image
+        with: 
+          base_image: ${{ matrix.image_url }}
+          image_additional_mb: 4096
+          optimize_image: yes
+          cpu: ${{ matrix.cpu }}
+          commands: |
+            chmod +x scripts/arm_runner_installer.sh
+            ./scripts/arm_runner_installer.sh
+      - name: Compress image
         run: |
-          chmod +x scripts/generatePiImage.sh
-          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -v $new_image_name
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:
diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
deleted file mode 100644
index 0d4259a7db..0000000000
--- a/.github/workflows/orangepi-image-generation.yml
+++ /dev/null
@@ -1,354 +0,0 @@
-name: "OPi Test Build"
-
-on:
-  push:
-    branches: [ fixes/orangepi-image-generation ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ fixes/orangepi-image-generation ]
-
-jobs:
-  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: 18
-      - 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:
-    name: "Build Examples"
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
-      - name: Publish photonlib to maven local
-        run: |
-          chmod +x gradlew
-          ./gradlew publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-  build-gradle:
-    name: "Gradle Build"
-    runs-on: ubuntu-22.04
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v3
-        with:
-          java-version: 17
-          distribution: temurin
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
-      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew build -x check --max-workers 2
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
-  build-offline-docs:
-    name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.9'
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-      - name: Build the docs
-        run: |
-          make html
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
-  build-photonlib-host:
-    env:
-      MACOSX_DEPLOYMENT_TARGET: 12
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            artifact-name: Win64
-            architecture: x64
-          - os: macos-12
-            artifact-name: macOS
-            architecture: x64
-          - os: ubuntu-22.04
-            artifact-name: Linux
-
-    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
-    runs-on: ${{ matrix.os }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: git fetch --tags --force
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
-      - run: ./gradlew photon-lib:publish photon-targeting:publish
-        name: Publish
-        env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
-  build-photonlib-docker:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
-            artifact-name: Athena
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
-            artifact-name: Raspbian
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
-            artifact-name: Aarch64
-
-    runs-on: ubuntu-22.04
-    container: ${{ matrix.container }}
-    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Config Git
-        run: |
-          git config --global --add safe.directory /__w/photonvision/photonvision
-      - name: Build PhotonLib
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
-      - name: Publish
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:publish photon-targeting:publish
-        env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
-  build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: none
-          - os: ubuntu-latest
-            artifact-name: Linux
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-latest
-            artifact-name: LinuxArm32
-            architecture: x64
-            arch-override: linuxarm32
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            architecture: x64
-            arch-override: linuxarm64
-
-    runs-on: ${{ matrix.os }}
-    name: "Build fat JAR - ${{ matrix.artifact-name }}"
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - 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: ${{ (matrix.os) == 'windows-latest' }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
-        if: ${{ (matrix.arch-override != 'none') }}
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2
-        if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-          path: photon-server/build/libs
-  build-image:
-    needs: [build-package]
-
-    # if: ${{ github.event_name != 'pull_request' }}
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 4096
-
-    runs-on: ${{ matrix.os }}
-    name: "Build image - ${{ matrix.image_url }}"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - uses: pguyot/arm-runner-action@v2
-        name: Generate image
-        id: generate_image
-        with: 
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: 4096
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          commands: |
-            chmod +x scripts/arm_runner_installer.sh
-            ./scripts/arm_runner_installer.sh
-            # chmod +x scripts/generatePiImage.sh
-            # ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
-      - name: Compress image
-        run: |
-          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
-          echo "[INFO] installed the following version :: $new_jar"
-          mv ${{ steps.generate_image.outputs.image }} $new_image_name
-          sudo xz -T 0 -v $new_image_name
-      - uses: actions/upload-artifact@v4
-        name: Upload image
-        with:
-          name: image-${{ matrix.image_suffix }}
-          path: photonvision*.xz
-  release:
-    needs: [build-package, build-image]
-    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
-      - run: find
-      # Push to dev release
-      - uses: pyTooling/Actions/releaser@r0
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            **/*.xz
-            **/*.jar
-        if: github.event_name == 'push'
-      # Upload all jars and xz archives
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: |
-            **/*.xz
-            **/*.jar
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/scripts/arm_runner_installer.sh b/scripts/armrunner.sh
similarity index 91%
rename from scripts/arm_runner_installer.sh
rename to scripts/armrunner.sh
index 33339a579d..5f7b01ad24 100644
--- a/scripts/arm_runner_installer.sh
+++ b/scripts/armrunner.sh
@@ -1,8 +1,7 @@
 ###
-# Alternative ARM Runner installer to setup PhotonVision service files and JAR.
+# Alternative ARM Runner installer to setup PhotonVision service files and JAR
+# for ARM based builds such as Raspberry Pi, Orange Pi, etc.
 ###
-echo "[INFO] Using ARM Runner minimal instruction set"
-
 NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
 echo "Using jar: " $(basename $NEW_JAR)
 
diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index d47ba23781..d99e0effb8 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -6,39 +6,6 @@ fi
 # 1st arg should be the release to download the image template from. The release ought to only have one
 # artifact for a "xz" image.
 
-# These are workarounds for the OrangePi. The current image does not use `pushd`, `popd` or `dirs`.
-DIR_STACK=""
-
-opi_pushd() {
-    if [ $# -eq 0 ]; then
-        echo "Directory stack:"
-	    for dir in $DIR_STACK; do
-	        echo "- $dir"
-	    done
-    else
-        DIR_STACK="$DIR_STACK $PWD"
-	    cd "$1" || return
-        # debugging only
-        echo "Added ${1} to the directory stack"
-    fi
-}
-
-opi_popd() {
-    if [ -z $DIR_STACK ]; then
-        echo "No directories"
-    else
-        LAST_ITEM=$(echo "$DIR_STACK" | awk '{print $NF}')
-	    POPPED_LIST="${DIR_STACK% *}"
-
-        # debugging only
-        echo "Removed ${LAST_ITEM} from the directory stack."
-        echo "Reassigning the DIR_STACK to `$POPPED_LIST`"
-
-        cd "$LAST_ITEM"
-	    DIR_STACK=$POPPED_LIST
-    fi
-}
-
 NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
 echo "Using jar: " $NEW_JAR
 echo "Downloading image from" $1
@@ -67,54 +34,15 @@ fi
 echo "Unziped image: " $IMAGE_FILE " -- mounting"
 TMP=$(mktemp -d)
 LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
-PARTITION="${LOOP}p2"
-
-# echo "Confirming that loop partition exists"
-# if ! lsblk | grep -q "$(basename $PARTITION)"; then
-#     echo "Loop device was not found in lsblk output. Creating it now."
-#     sudo parted $LOOP mklabel msdos
-
-#     sudo parted $LOOP mkpart primary ext4 0% 50% > /dev/null 2>&1
-#     sudo mkfs.ext4 "${LOOP}p1" > /dev/null 2>&1
-
-#     sudo parted $LOOP mkpart primary ext4 50% 100% > /dev/null 2>&1
-#     sudo mkfs.ext4 $PARTITION > /dev/null 2>&1
-
-#     if ! lsblk | grep -q "$(basename $PARTITION)"; then
-#         echo "Failed to create partition. Exiting."
-#         exit 1
-#     fi
-
-#     echo "Created loop device partition"
-# fi
-
 echo "Image mounted! Copying jar..."
-sudo mount $PARTITION $TMP
-
-
-if ! command -v pushd > /dev/null 2>&1; then
-    echo "Overwriting pushd because it doesn't exist."
-    alias pushd='opi_pushd'
-fi
-
-if ! command -v popd > /dev/null 2>&1; then
-    echo "Overwriting popd because it doesn't exist."
-    alias popd='opi_popd'
-fi
-
+sudo mount ${LOOP}p2 $TMP
 pushd .
-
-DEST_PV_LOCATION=$TMP/opt/photonvision
-
-sudo mkdir -p $DEST_PV_LOCATION
-cd $DEST_PV_LOCATION
+cd $TMP/opt/photonvision
 sudo cp $NEW_JAR photonvision.jar
 
 echo "Jar updated! Creating service..."
 
-DEST_TARGET_WANTS=$TMP/etc/systemd/system/multi-user.target.wants
-sudo mkdir -p $DEST_TARGET_WANTS
-cd $DEST_TARGET_WANTS
+cd $TMP/etc/systemd/system/multi-user.target.wants
 sudo bash -c "printf \
 \"[Unit]
 Description=Service that runs PhotonVision

From eb17d4ea9a24645246c56c551717d6306f26ea82 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 04:51:30 -0500
Subject: [PATCH 18/23] Add newline at end of scripts for WPILib formatting

---
 scripts/armrunner.sh       | 2 +-
 scripts/generatePiImage.sh | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/armrunner.sh b/scripts/armrunner.sh
index 5f7b01ad24..6745cdce2a 100644
--- a/scripts/armrunner.sh
+++ b/scripts/armrunner.sh
@@ -27,4 +27,4 @@ RestartSec=1
 [Install]
 WantedBy=multi-user.target\" > photonvision.service"
 
-echo "Service created!"
\ No newline at end of file
+echo "Service created!"
diff --git a/scripts/generatePiImage.sh b/scripts/generatePiImage.sh
index d99e0effb8..b068a2ea48 100755
--- a/scripts/generatePiImage.sh
+++ b/scripts/generatePiImage.sh
@@ -68,4 +68,4 @@ NEW_IMAGE=$(basename "${NEW_JAR/.jar/_$2.img}")
 echo "Renaming image " $IMAGE_FILE " -> " $NEW_IMAGE
 mv $IMAGE_FILE $NEW_IMAGE
 xz -T0 -v -z $NEW_IMAGE
-mv $NEW_IMAGE.xz $(basename "${NEW_JAR/.jar/-image_$2.xz}")
\ No newline at end of file
+mv $NEW_IMAGE.xz $(basename "${NEW_JAR/.jar/-image_$2.xz}")

From ce283bdd6ce3c6cb19469a6df63bf425b5f1c229 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 04:57:33 -0500
Subject: [PATCH 19/23] Fix white space issues for WPILib formatting

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 48750bef58..6e0f122eca 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -302,7 +302,7 @@ jobs:
       - uses: pguyot/arm-runner-action@v2
         name: Generate image
         id: generate_image
-        with: 
+        with:
           base_image: ${{ matrix.image_url }}
           image_additional_mb: 4096
           optimize_image: yes

From da4f45d9121f306f2d30016516f7ba3280c75f6d Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 12:13:20 -0500
Subject: [PATCH 20/23] Add image_additional_mb parameter and remove
 servicefile from arm-runner

---
 .github/workflows/build.yml |  2 +-
 scripts/armrunner.sh        | 24 +++---------------------
 2 files changed, 4 insertions(+), 22 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 6e0f122eca..b4f17e5ad5 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -304,7 +304,7 @@ jobs:
         id: generate_image
         with:
           base_image: ${{ matrix.image_url }}
-          image_additional_mb: 4096
+          image_additional_mb: ${{ matrix.image_additional_mb }}
           optimize_image: yes
           cpu: ${{ matrix.cpu }}
           commands: |
diff --git a/scripts/armrunner.sh b/scripts/armrunner.sh
index 6745cdce2a..4e59e345aa 100644
--- a/scripts/armrunner.sh
+++ b/scripts/armrunner.sh
@@ -1,6 +1,8 @@
 ###
-# Alternative ARM Runner installer to setup PhotonVision service files and JAR
+# Alternative ARM Runner installer to setup PhotonVision JAR
 # for ARM based builds such as Raspberry Pi, Orange Pi, etc.
+# This assumes that the image provided to arm-runner-action contains
+# the servicefile needed to auto-launch PhotonVision.
 ###
 NEW_JAR=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
 echo "Using jar: " $(basename $NEW_JAR)
@@ -8,23 +10,3 @@ echo "Using jar: " $(basename $NEW_JAR)
 DEST_PV_LOCATION=/opt/photonvision
 sudo mkdir -p $DEST_PV_LOCATION
 sudo cp $NEW_JAR ${DEST_PV_LOCATION}/photonvision.jar
-
-TARGET_WANTS=/etc/systemd/system/multi-user.target.wants
-sudo mkdir -p $TARGET_WANTS
-cd $TARGET_WANTS
-sudo bash -c "printf \
-\"[Unit]
-Description=Service that runs PhotonVision
-
-[Service]
-WorkingDirectory=/opt/photonvision
-ExecStart=/usr/bin/java -Xmx512m -jar /opt/photonvision/photonvision.jar
-ExecStop=/bin/systemctl kill photonvision
-Type=simple
-Restart=on-failure
-RestartSec=1
-
-[Install]
-WantedBy=multi-user.target\" > photonvision.service"
-
-echo "Service created!"

From 7d7edb35a5daa8280845c06d526dd9fb4c61560d Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 14:39:26 -0500
Subject: [PATCH 21/23] Re-test image creation after PR fixes

---
 .../workflows/orangepi-image-generation.yml   | 354 ++++++++++++++++++
 1 file changed, 354 insertions(+)
 create mode 100644 .github/workflows/orangepi-image-generation.yml

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
new file mode 100644
index 0000000000..0d4259a7db
--- /dev/null
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -0,0 +1,354 @@
+name: "OPi Test Build"
+
+on:
+  push:
+    branches: [ fixes/orangepi-image-generation ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ fixes/orangepi-image-generation ]
+
+jobs:
+  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: 18
+      - 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:
+    name: "Build Examples"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      # Need to publish to maven local first, so that C++ sim can pick it up
+      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
+      - name: Publish photonlib to maven local
+        run: |
+          chmod +x gradlew
+          ./gradlew publishtomavenlocal -x check
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew build -x check --max-workers 2
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew build -x check --max-workers 2
+  build-gradle:
+    name: "Gradle Build"
+    runs-on: ubuntu-22.04
+    steps:
+      # Checkout code.
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      - name: Install mrcal deps
+        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
+      - name: Gradle Build
+        run: |
+          chmod +x gradlew
+          ./gradlew build -x check --max-workers 2
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
+      - name: Gradle Coverage
+        run: ./gradlew jacocoTestReport --max-workers 1
+      - name: Publish Coverage Report
+        uses: codecov/codecov-action@v3
+        with:
+          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
+      - name: Publish Core Coverage Report
+        uses: codecov/codecov-action@v3
+        with:
+          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+  build-offline-docs:
+    name: "Build Offline Docs"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: 'PhotonVision/photonvision-docs.git'
+          ref: master
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.9'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
+          pip install -r requirements.txt
+      - name: Build the docs
+        run: |
+          make html
+      - uses: actions/upload-artifact@master
+        with:
+          name: built-docs
+          path: build/html
+  build-photonlib-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 12
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64
+            architecture: x64
+          - os: macos-12
+            artifact-name: macOS
+            architecture: x64
+          - os: ubuntu-22.04
+            artifact-name: Linux
+
+    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - run: git fetch --tags --force
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
+        name: Publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+  build-photonlib-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+            artifact-name: Athena
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: Raspbian
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: Aarch64
+
+    runs-on: ubuntu-22.04
+    container: ${{ matrix.container }}
+    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Config Git
+        run: |
+          git config --global --add safe.directory /__w/photonvision/photonvision
+      - name: Build PhotonLib
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - name: Publish
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:publish photon-targeting:publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+  build-package:
+    needs: [build-client, build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+            architecture: x64
+            arch-override: none
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: x64
+            arch-override: none
+          - os: ubuntu-latest
+            artifact-name: Linux
+            architecture: x64
+            arch-override: none
+          - os: macos-latest
+            artifact-name: macOSArm
+            architecture: x64
+            arch-override: macarm64
+          - os: ubuntu-latest
+            artifact-name: LinuxArm32
+            architecture: x64
+            arch-override: linuxarm32
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            architecture: x64
+            arch-override: linuxarm64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - 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: ${{ (matrix.os) == 'windows-latest' }}
+      - uses: actions/download-artifact@v4
+        with:
+          name: built-client
+          path: photon-server/src/main/resources/web/
+      - uses: actions/download-artifact@v4
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
+        if: ${{ (matrix.arch-override != 'none') }}
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2
+        if: ${{ (matrix.arch-override == 'none') }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+          path: photon-server/build/libs
+  build-image:
+    needs: [build-package]
+
+    # if: ${{ github.event_name != 'pull_request' }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: RaspberryPi
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: limelight2
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 4096
+
+    runs-on: ${{ matrix.os }}
+    name: "Build image - ${{ matrix.image_url }}"
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
+      - uses: pguyot/arm-runner-action@v2
+        name: Generate image
+        id: generate_image
+        with: 
+          base_image: ${{ matrix.image_url }}
+          image_additional_mb: 4096
+          optimize_image: yes
+          cpu: ${{ matrix.cpu }}
+          commands: |
+            chmod +x scripts/arm_runner_installer.sh
+            ./scripts/arm_runner_installer.sh
+            # chmod +x scripts/generatePiImage.sh
+            # ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+      - name: Compress image
+        run: |
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          echo "[INFO] installed the following version :: $new_jar"
+          mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -v $new_image_name
+      - uses: actions/upload-artifact@v4
+        name: Upload image
+        with:
+          name: image-${{ matrix.image_suffix }}
+          path: photonvision*.xz
+  release:
+    needs: [build-package, build-image]
+    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
+      - run: find
+      # Push to dev release
+      - uses: pyTooling/Actions/releaser@r0
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          tag: 'Dev'
+          rm: true
+          files: |
+            **/*.xz
+            **/*.jar
+        if: github.event_name == 'push'
+      # Upload all jars and xz archives
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: |
+            **/*.xz
+            **/*.jar
+        if: startsWith(github.ref, 'refs/tags/v')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 4af9acbe4edaadf0bf3edc8aa8bfbcdf5c5bef38 Mon Sep 17 00:00:00 2001
From: judsonjames <judsonjames96@gmail.com>
Date: Tue, 9 Jan 2024 14:51:38 -0500
Subject: [PATCH 22/23] Fix script name in test build workflow

---
 .github/workflows/orangepi-image-generation.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
index 0d4259a7db..73b79ce61a 100644
--- a/.github/workflows/orangepi-image-generation.yml
+++ b/.github/workflows/orangepi-image-generation.yml
@@ -303,14 +303,14 @@ jobs:
       - uses: pguyot/arm-runner-action@v2
         name: Generate image
         id: generate_image
-        with: 
+        with:
           base_image: ${{ matrix.image_url }}
           image_additional_mb: 4096
           optimize_image: yes
           cpu: ${{ matrix.cpu }}
           commands: |
-            chmod +x scripts/arm_runner_installer.sh
-            ./scripts/arm_runner_installer.sh
+            chmod +x scripts/armrunner.sh
+            ./scripts/armrunner.sh
             # chmod +x scripts/generatePiImage.sh
             # ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
       - name: Compress image

From fa0a59a5388bdd134e452fb5c7944c17ecdb38ee Mon Sep 17 00:00:00 2001
From: amquake <noleetarrr@gmail.com>
Date: Fri, 12 Jan 2024 20:28:24 -0800
Subject: [PATCH 23/23] Delete .github/workflows/orangepi-image-generation.yml

---
 .../workflows/orangepi-image-generation.yml   | 354 ------------------
 1 file changed, 354 deletions(-)
 delete mode 100644 .github/workflows/orangepi-image-generation.yml

diff --git a/.github/workflows/orangepi-image-generation.yml b/.github/workflows/orangepi-image-generation.yml
deleted file mode 100644
index 73b79ce61a..0000000000
--- a/.github/workflows/orangepi-image-generation.yml
+++ /dev/null
@@ -1,354 +0,0 @@
-name: "OPi Test Build"
-
-on:
-  push:
-    branches: [ fixes/orangepi-image-generation ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ fixes/orangepi-image-generation ]
-
-jobs:
-  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: 18
-      - 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:
-    name: "Build Examples"
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
-      - name: Publish photonlib to maven local
-        run: |
-          chmod +x gradlew
-          ./gradlew publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-  build-gradle:
-    name: "Gradle Build"
-    runs-on: ubuntu-22.04
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v3
-        with:
-          java-version: 17
-          distribution: temurin
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
-      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew build -x check --max-workers 2
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
-  build-offline-docs:
-    name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.9'
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-      - name: Build the docs
-        run: |
-          make html
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
-  build-photonlib-host:
-    env:
-      MACOSX_DEPLOYMENT_TARGET: 12
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            artifact-name: Win64
-            architecture: x64
-          - os: macos-12
-            artifact-name: macOS
-            architecture: x64
-          - os: ubuntu-22.04
-            artifact-name: Linux
-
-    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
-    runs-on: ${{ matrix.os }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: git fetch --tags --force
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
-      - run: ./gradlew photon-lib:publish photon-targeting:publish
-        name: Publish
-        env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
-  build-photonlib-docker:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
-            artifact-name: Athena
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
-            artifact-name: Raspbian
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
-            artifact-name: Aarch64
-
-    runs-on: ubuntu-22.04
-    container: ${{ matrix.container }}
-    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Config Git
-        run: |
-          git config --global --add safe.directory /__w/photonvision/photonvision
-      - name: Build PhotonLib
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
-      - name: Publish
-        run: |
-          chmod +x gradlew
-          ./gradlew photon-lib:publish photon-targeting:publish
-        env:
-          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
-  build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: none
-          - os: ubuntu-latest
-            artifact-name: Linux
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-latest
-            artifact-name: LinuxArm32
-            architecture: x64
-            arch-override: linuxarm32
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            architecture: x64
-            arch-override: linuxarm64
-
-    runs-on: ${{ matrix.os }}
-    name: "Build fat JAR - ${{ matrix.artifact-name }}"
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - 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: ${{ (matrix.os) == 'windows-latest' }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
-        if: ${{ (matrix.arch-override != 'none') }}
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2
-        if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-          path: photon-server/build/libs
-  build-image:
-    needs: [build-package]
-
-    # if: ${{ github.event_name != 'pull_request' }}
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 4096
-
-    runs-on: ${{ matrix.os }}
-    name: "Build image - ${{ matrix.image_url }}"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - uses: pguyot/arm-runner-action@v2
-        name: Generate image
-        id: generate_image
-        with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: 4096
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          commands: |
-            chmod +x scripts/armrunner.sh
-            ./scripts/armrunner.sh
-            # chmod +x scripts/generatePiImage.sh
-            # ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
-      - name: Compress image
-        run: |
-          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
-          echo "[INFO] installed the following version :: $new_jar"
-          mv ${{ steps.generate_image.outputs.image }} $new_image_name
-          sudo xz -T 0 -v $new_image_name
-      - uses: actions/upload-artifact@v4
-        name: Upload image
-        with:
-          name: image-${{ matrix.image_suffix }}
-          path: photonvision*.xz
-  release:
-    needs: [build-package, build-image]
-    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
-      - run: find
-      # Push to dev release
-      - uses: pyTooling/Actions/releaser@r0
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            **/*.xz
-            **/*.jar
-        if: github.event_name == 'push'
-      # Upload all jars and xz archives
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: |
-            **/*.xz
-            **/*.jar
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}