From 6dfcfa43c5c31663d0caa3c62a27fa51df9de141 Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Tue, 7 Apr 2026 11:48:51 -0400
Subject: [PATCH 01/10] create more robust ci-cd pipeline

---
 .github/workflows/gradle_publish.yml | 73 ++++++++++++++++++++--------
 build.gradle                         |  6 +++
 2 files changed, 59 insertions(+), 20 deletions(-)

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 36f5b7328..41d6642f5 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -1,25 +1,58 @@
 name: Publish package to GitHub Packages
-on: workflow_dispatch
+on:
+  workflow_dispatch:
+    inputs:
+      run_all:
+        description: "Publish all subprojects"
+        required: true
+        default: "false"
+      run_specific:
+        description: "Publish specific subproject"
+        required: false
+        default: ""
+  push:
+    branches: [ "master" ]
 jobs:
-  publish:
+  detect-changes:
     runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      packages: write
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
     steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-          submodules: recursive
-      - uses: actions/setup-java@v4
-        with:
-          java-version: '17'
-          distribution: 'temurin'
-      - name: Setup Gradle
-        uses: gradle/actions/setup-gradle@017a9effdb900e5b5b2fddfb590a105619dca3c3 # v4.4.2
+      - uses: actions/checkout@v4
+      - name: Detect changed subprojects
+        id: changes
+        run: |
+          # get all projects
+          CHANGED=$(./gradlew projects --quiet | grep "Project " | awk '{print $3}' | sed "s/'\|://g")
+          
+          #handle if project is specified
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            if [ "${{ inputs.run_all }}" = "false" ]; then
+              CHANGED="${{ inputs.run_specific }}"
+            fi
+          else #merge to master, detect specific changes
+            CHANGED=$(grep -F -o -f <(echo "$CHANGED") <(git diff --name-only HEAD~ HEAD))
+          fi
+          
+          echo "changed=$CHANGED" >> $GITHUB_OUTPUT
+      - name: Build matrix
+        id: set-matrix
+        run: |
+          ARR=$(echo "${{ steps.changes.outputs.changed }}" | jq -R -s -c 'split("\n")[:-1]')
+          echo "matrix={\"project\":$ARR}" >> $GITHUB_OUTPUT
 
-      - name: Publish package
-        run: ./gradlew publish --continue #don't block progress for other packages
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
\ No newline at end of file
+  publish:
+    needs: detect-changes
+    runs-on: ubuntu-latest
+    strategy:
+      matrix: ${{ fromJson(needs.detect-changes.outputs.matrix) }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Publish project
+        run: |
+          echo "Publishing ${{ matrix.project }}"
+          VERSION=$(./gradlew --quiet :${{ matrix.project }}:printVersion)
+          if [ "${{ github.event_name }}" = "push" ]; then
+            VERSION="${VERSION}-SNAPSHOT"
+          fi
+          ./gradlew :${{ matrix.project }}:publish -Pversion="$VERSION"
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 5245e5199..f799cb415 100644
--- a/build.gradle
+++ b/build.gradle
@@ -23,6 +23,12 @@ subprojects {
     testImplementation "junit:junit:4.13.1"
   }
   
+  task printVersion {
+    doLast {
+      print project.version
+    }
+  }
+  
   sourceCompatibility = 17
   targetCompatibility = 17
   

From 962f3fb4df06964d9969cf096845c2f16620516b Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 13:50:36 -0400
Subject: [PATCH 02/10] fix run spec

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

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 41d6642f5..fe7f064aa 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -28,7 +28,7 @@ jobs:
           #handle if project is specified
           if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
             if [ "${{ inputs.run_all }}" = "false" ]; then
-              CHANGED="${{ inputs.run_specific }}"
+              CHANGED=${{ inputs.run_specific }}
             fi
           else #merge to master, detect specific changes
             CHANGED=$(grep -F -o -f <(echo "$CHANGED") <(git diff --name-only HEAD~ HEAD))

From 903334d43e03405c80da36ca4a80db34d62052c5 Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 13:56:28 -0400
Subject: [PATCH 03/10] add github token

---
 .github/workflows/gradle_publish.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index fe7f064aa..078a38ad1 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -55,4 +55,6 @@ jobs:
           if [ "${{ github.event_name }}" = "push" ]; then
             VERSION="${VERSION}-SNAPSHOT"
           fi
-          ./gradlew :${{ matrix.project }}:publish -Pversion="$VERSION"
\ No newline at end of file
+          ./gradlew :${{ matrix.project }}:publish -Pversion="$VERSION"
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
\ No newline at end of file

From 1214b09958555ebb93f349041c440630e22161f2 Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 13:58:55 -0400
Subject: [PATCH 04/10] fix name

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

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 078a38ad1..945347eb2 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -57,4 +57,4 @@ jobs:
           fi
           ./gradlew :${{ matrix.project }}:publish -Pversion="$VERSION"
         env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
\ No newline at end of file
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
\ No newline at end of file

From 7ef9ce56d2d0a13b92ba9ad81ba406059114edea Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 14:13:28 -0400
Subject: [PATCH 05/10] allow multiline

---
 .github/workflows/gradle_publish.yml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 945347eb2..4b3f99776 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -34,11 +34,15 @@ jobs:
             CHANGED=$(grep -F -o -f <(echo "$CHANGED") <(git diff --name-only HEAD~ HEAD))
           fi
           
+          CHANGED=$(echo -n "$CHANGED" | base64)
+          
           echo "changed=$CHANGED" >> $GITHUB_OUTPUT
       - name: Build matrix
         id: set-matrix
         run: |
-          ARR=$(echo "${{ steps.changes.outputs.changed }}" | jq -R -s -c 'split("\n")[:-1]')
+          ENCODED=${{ steps.changes.outputs.changed }}
+          CHANGED=$(echo -n "$ENCODED" | base64 --decode)
+          ARR=$(echo "$CHANGED" | jq -R -s -c 'split("\n")[:-1]')
           echo "matrix={\"project\":$ARR}" >> $GITHUB_OUTPUT
 
   publish:

From a297f82c13d68e24215e7a86df04faf61efa8850 Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 14:22:15 -0400
Subject: [PATCH 06/10] more multiline fix

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

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 4b3f99776..3c51cf562 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -34,7 +34,7 @@ jobs:
             CHANGED=$(grep -F -o -f <(echo "$CHANGED") <(git diff --name-only HEAD~ HEAD))
           fi
           
-          CHANGED=$(echo -n "$CHANGED" | base64)
+          CHANGED=$(echo -n "$CHANGED" | base64 -w 0)
           
           echo "changed=$CHANGED" >> $GITHUB_OUTPUT
       - name: Build matrix

From ca0a1c7212bd5b7815e71249b06bbbc68369a2f6 Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 14:26:52 -0400
Subject: [PATCH 07/10] add recursive checkout

---
 .github/workflows/gradle_publish.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 3c51cf562..2d2a3a077 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -19,6 +19,8 @@ jobs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Detect changed subprojects
         id: changes
         run: |

From d047b474596bf30bf608d9e038d0aa6c14b4111d Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 14:33:53 -0400
Subject: [PATCH 08/10] add prebuild step

---
 .github/workflows/gradle_publish.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 2d2a3a077..766e323d1 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -61,6 +61,7 @@ jobs:
           if [ "${{ github.event_name }}" = "push" ]; then
             VERSION="${VERSION}-SNAPSHOT"
           fi
+          ./gradlew :${{ matrix.project }}:build -Pversion="$VERSION" -x test
           ./gradlew :${{ matrix.project }}:publish -Pversion="$VERSION"
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
\ No newline at end of file

From b7ee775fe7e173839f0578de6e87fb8552560ee4 Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 14:38:33 -0400
Subject: [PATCH 09/10] allow failure of publish job

---
 .github/workflows/gradle_publish.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 766e323d1..3a50aebca 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -52,6 +52,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix: ${{ fromJson(needs.detect-changes.outputs.matrix) }}
+      fail-fast: false
     steps:
       - uses: actions/checkout@v4
       - name: Publish project

From 0f6770922c881f934c3833dc2629cc08b3f9a009 Mon Sep 17 00:00:00 2001
From: Lennon Scariano <lennon.scariano@georobotix.com>
Date: Mon, 27 Apr 2026 14:40:06 -0400
Subject: [PATCH 10/10] added recursive checkout on wrong job

---
 .github/workflows/gradle_publish.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/gradle_publish.yml b/.github/workflows/gradle_publish.yml
index 3a50aebca..ca360fc44 100644
--- a/.github/workflows/gradle_publish.yml
+++ b/.github/workflows/gradle_publish.yml
@@ -19,8 +19,6 @@ jobs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
     steps:
       - uses: actions/checkout@v4
-        with:
-          submodules: recursive
       - name: Detect changed subprojects
         id: changes
         run: |
@@ -55,6 +53,8 @@ jobs:
       fail-fast: false
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
       - name: Publish project
         run: |
           echo "Publishing ${{ matrix.project }}"