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[build] Make loading sim extensions from MyRobot easier (#2671)

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This commit is contained in:
Thad House
2020-08-31 00:34:34 -07:00
committed by GitHub
parent 7548fdae5d
commit 05701317b4
4 changed files with 75 additions and 28 deletions
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2
.gitignore vendored
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@@ -222,3 +222,5 @@ compile_commands.json
# clang configuration and clangd cache
.clang
.clangd/
imgui.ini

2
hal/src/main/native/sim/Extensions.cpp
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@@ -23,7 +23,7 @@
#if defined(WIN32) || defined(_WIN32)
#define DELIM ';'
#define HTYPE HMODULE
#define DLOPEN(a) LoadLibrary(a)
#define DLOPEN(a) LoadLibraryA(a)
#define DLSYM GetProcAddress
#define DLCLOSE FreeLibrary
#else

97
myRobot/build.gradle
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@@ -1,5 +1,6 @@
import jaci.gradle.toolchains.*
import jaci.gradle.nativedeps.*
import org.gradle.internal.os.OperatingSystem
plugins {
id 'java'
@@ -13,6 +14,12 @@ apply plugin: 'jaci.gradle.EmbeddedTools'
apply from: '../shared/config.gradle'
application {
if (OperatingSystem.current().isMacOsX()) {
applicationDefaultJvmArgs = ['-XstartOnFirstThread']
}
}
ext {
sharedCvConfigs = [myRobotCpp: []]
staticCvConfigs = [myRobotCppStatic: []]
@@ -129,6 +136,10 @@ dependencies {
implementation project(':wpilibNewCommands')
}
def simProjects = [
'halsim_gui'
]
model {
components {
myRobotCpp(NativeExecutableSpec) {
@@ -146,21 +157,28 @@ model {
}
}
binaries.all { binary ->
lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'shared'
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
lib project: ':cscore', library: 'cscore', linkage: 'shared'
lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
project(':hal').addHalDependency(binary, 'shared')
project(':hal').addHalJniDependency(binary)
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'shared'
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
lib project: ':cscore', library: 'cscore', linkage: 'shared'
lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
project(':hal').addHalDependency(binary, 'shared')
project(':hal').addHalJniDependency(binary)
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
} else {
def systemArch = getCurrentArch()
if (binary.targetPlatform.name == systemArch) {
simProjects.each {
lib project: ":simulation:$it", library: it, linkage: 'shared'
}
}
}
}
}
myRobotCppStatic(NativeExecutableSpec) {
@@ -179,18 +197,18 @@ model {
}
}
binaries.all { binary ->
lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'static'
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':ntcore', library: 'ntcore', linkage: 'static'
lib project: ':cscore', library: 'cscore', linkage: 'static'
project(':hal').addHalDependency(binary, 'static')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
}
lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'static'
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':ntcore', library: 'ntcore', linkage: 'static'
lib project: ':cscore', library: 'cscore', linkage: 'static'
project(':hal').addHalDependency(binary, 'static')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
}
}
}
}
@@ -201,6 +219,7 @@ model {
description = "Run the myRobotCpp executable"
def found = false
def systemArch = getCurrentArch()
def runTask = it
c.each {
if (it in NativeExecutableSpec && it.name == "myRobotCpp") {
it.binaries.each {
@@ -213,6 +232,32 @@ model {
run.dependsOn it.tasks.install
run.systemProperty 'java.library.path', filePath
run.environment 'LD_LIBRARY_PATH', filePath
def installTask = it.tasks.install
def doFirstTask = {
def extensions = '';
installTask.installDirectory.get().getAsFile().eachFileRecurse {
def name = it.name
if (!(name.endsWith('.dll') || name.endsWith('.so') || name.endsWith('.dylib'))) {
return
}
def file = it
simProjects.each {
if (name.startsWith(it) || name.startsWith("lib$it".toString())) {
extensions += file.absolutePath + File.pathSeparator
}
}
}
if (extensions != '') {
run.environment 'HALSIM_EXTENSIONS', extensions
runTask.environment 'HALSIM_EXTENSIONS', extensions
}
}
runTask.doFirst doFirstTask
run.doFirst doFirstTask
run.workingDir filePath
found = true

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
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@@ -419,6 +419,6 @@ public abstract class RobotBase implements AutoCloseable {
runRobot(robotSupplier);
}
System.exit(1);
System.exit(0);
}
}