mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
68fc1e7129
This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more. Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
119 lines
4.1 KiB
Groovy
119 lines
4.1 KiB
Groovy
plugins {
|
|
id "java"
|
|
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
|
|
}
|
|
|
|
java {
|
|
sourceCompatibility = JavaVersion.VERSION_21
|
|
targetCompatibility = JavaVersion.VERSION_21
|
|
}
|
|
|
|
def ROBOT_MAIN_CLASS = "frc.robot.Main"
|
|
|
|
repositories {
|
|
mavenLocal();
|
|
}
|
|
|
|
wpi.maven.useDevelopment = true
|
|
wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
|
|
|
|
// Define my targets (SystemCore) and artifacts (deployable files)
|
|
// This is added by GradleRIO's backing project DeployUtils.
|
|
deploy {
|
|
targets {
|
|
systemcore(getTargetTypeClass('SystemCore')) {
|
|
// Team number is loaded either from the .wpilib/wpilib_preferences.json
|
|
// or from command line. If not found an exception will be thrown.
|
|
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
|
|
// want to store a team number in this file.
|
|
team = project.frc.getTeamOrDefault(5940)
|
|
debug = project.frc.getDebugOrDefault(false)
|
|
|
|
artifacts {
|
|
// First part is artifact name, 2nd is artifact type
|
|
// getTargetTypeClass is a shortcut to get the class type using a string
|
|
|
|
frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
|
|
}
|
|
|
|
// Static files artifact
|
|
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
|
|
files = project.fileTree('src/main/deploy')
|
|
directory = '/home/systemcore/deploy'
|
|
deleteOldFiles = false // Change to true to delete files on systemcore that no
|
|
// longer exist in deploy directory of this project
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
def deployArtifact = deploy.targets.systemcore.artifacts.frcJava
|
|
|
|
// Set to true to use debug for all targets including JNI, which will drastically impact
|
|
// performance.
|
|
wpi.java.debugJni = false
|
|
|
|
// Set this to true to enable desktop support.
|
|
def includeDesktopSupport = true
|
|
|
|
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
|
|
// Also defines JUnit 5.
|
|
dependencies {
|
|
annotationProcessor wpi.java.deps.wpilibAnnotations()
|
|
implementation wpi.java.deps.wpilib()
|
|
implementation wpi.java.vendor.java()
|
|
|
|
systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
|
|
systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
|
|
|
|
systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
|
|
systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
|
|
|
|
nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
|
|
nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
|
|
simulationDebug wpi.sim.enableDebug()
|
|
|
|
nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
|
|
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
|
|
simulationRelease wpi.sim.enableRelease()
|
|
|
|
testImplementation 'org.junit.jupiter:junit-jupiter:5.12.2'
|
|
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
|
|
}
|
|
|
|
test {
|
|
useJUnitPlatform()
|
|
systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
|
|
}
|
|
|
|
// Simulation configuration (e.g. environment variables).
|
|
wpi.sim.addGui().defaultEnabled = true
|
|
wpi.sim.addDriverstation()
|
|
|
|
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
|
|
// in order to make them all available at runtime. Also adding the manifest so WPILib
|
|
// knows where to look for our Robot Class.
|
|
jar {
|
|
from {
|
|
configurations.runtimeClasspath.collect {
|
|
it.isDirectory() ? it : zipTree(it)
|
|
}
|
|
}
|
|
from('src') { into 'backup/src' }
|
|
from('vendordeps') { into 'backup/vendordeps' }
|
|
from('build.gradle') { into 'backup' }
|
|
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
|
|
duplicatesStrategy = DuplicatesStrategy.INCLUDE
|
|
}
|
|
|
|
// Configure jar and deploy tasks
|
|
deployArtifact.jarTask = jar
|
|
wpi.java.configureExecutableTasks(jar)
|
|
wpi.java.configureTestTasks(test)
|
|
|
|
// Configure string concat to always inline compile
|
|
tasks.withType(JavaCompile) {
|
|
options.compilerArgs.add '-XDstringConcat=inline'
|
|
}
|