mirror of
https://github.com/PhotonVision/photonvision
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9490c2f2cd
## Description <!-- What changed? Why? (the code + comments should speak for itself on the "how") --> <!-- Fun screenshots or a cool video or something are super helpful as well. If this touches platform-specific behavior, this is where test evidence should be collected. --> <!-- Any issues this pull request closes or pull requests this supersedes should be linked with `Closes #issuenumber`. --> Bump to wpilib 2026 beta. This does not bump our pythonlib, as robotpy hasn't come out yet. ## Meta Merge checklist: - [ ] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [ ] The description documents the _what_ and _why_ - [ ] This PR has been [linted](https://docs.photonvision.org/en/latest/docs/contributing/linting.html). - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added --------- Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
118 lines
3.8 KiB
Groovy
118 lines
3.8 KiB
Groovy
plugins {
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id "cpp"
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id "google-test-test-suite"
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id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
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}
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repositories {
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mavenLocal()
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jcenter()
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}
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wpi.maven.useLocal = false
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wpi.maven.useDevelopment = false
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wpi.versions.wpilibVersion = "2026.1.1-beta-1"
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wpi.versions.wpimathVersion = "2026.1.1-beta-1"
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// Define my targets (RoboRIO) and artifacts (deployable files)
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// This is added by GradleRIO's backing project DeployUtils.
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deploy {
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targets {
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roborio(getTargetTypeClass('RoboRIO')) {
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// Team number is loaded either from the .wpilib/wpilib_preferences.json
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// or from command line. If not found an exception will be thrown.
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// You can use getTeamOrDefault(team) instead of getTeamNumber if you
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// want to store a team number in this file.
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team = project.frc.getTeamOrDefault(5940)
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debug = project.frc.getDebugOrDefault(false)
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artifacts {
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// First part is artifact name, 2nd is artifact type
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// getTargetTypeClass is a shortcut to get the class type using a string
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frcCpp(getArtifactTypeClass('FRCNativeArtifact')) {
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}
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// Static files artifact
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frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
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files = project.fileTree('src/main/deploy')
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directory = '/home/lvuser/deploy'
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}
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}
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}
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}
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}
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def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
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// Set this to true to enable desktop support.
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def includeDesktopSupport = true
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// Set to true to run simulation in debug mode
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wpi.cpp.debugSimulation = false
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// Default enable simgui
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wpi.sim.addGui().defaultEnabled = true
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// Enable DS but not by default
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wpi.sim.addDriverstation()
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model {
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components {
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frcUserProgram(NativeExecutableSpec) {
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// We don't need to build for roborio -- if we do, we need to install
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// a roborio toolchain every time we build in CI
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// Ideally, we'd be able to set the roborio toolchain as optional, but
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// I can't figure out how to set that environment variable from build.gradle
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// (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
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// for now, commented out
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// targetPlatform wpi.platforms.roborio
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if (includeDesktopSupport) {
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targetPlatform wpi.platforms.desktop
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}
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sources.cpp {
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source {
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srcDir 'src/main/cpp'
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include '**/*.cpp', '**/*.cc'
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}
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exportedHeaders {
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srcDir 'src/main/include'
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}
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}
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// Set deploy task to deploy this component
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deployArtifact.component = it
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// Enable run tasks for this component
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wpi.cpp.enableExternalTasks(it)
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// Enable simulation for this component
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wpi.sim.enable(it)
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// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
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wpi.cpp.vendor.cpp(it)
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wpi.cpp.deps.wpilib(it)
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}
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}
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testSuites {
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frcUserProgramTest(GoogleTestTestSuiteSpec) {
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testing $.components.frcUserProgram
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sources.cpp {
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source {
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srcDir 'src/test/cpp'
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include '**/*.cpp'
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}
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}
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// Enable run tasks for this component
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wpi.cpp.enableExternalTasks(it)
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wpi.cpp.vendor.cpp(it)
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wpi.cpp.deps.wpilib(it)
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wpi.cpp.deps.googleTest(it)
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}
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}
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}
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