Add wpiutil dependency. (#190)

cppSettings.gradle

@@ -26,7 +26,7 @@ armConfig.setTransitive(false)
 def armNetTables = armConfig.files[0].canonicalFile
 
 def desktopNetTables
-if (project.hasProperty('makeSim')){
+if (project.hasProperty('makeSim')) {
     def desktopNtDependency =
         project.dependencies.create("edu.wpi.first.wpilib.networktables.cpp:NetworkTables:3.0.0-SNAPSHOT:desktop@zip")
     def desktopConfig = project.configurations.detachedConfiguration(desktopNtDependency)
@@ -40,13 +40,41 @@ def netTablesUnzipLocation = "$buildDir/networktables"
 task unzipNetworkTables(type: Copy) {
     description = 'Unzips the networktables maven dependency so that the include files and libraries can be used'
     group = 'WPILib'
-    if (project.hasProperty('makeSim')){
+    if (project.hasProperty('makeSim')) {
         from zipTree(desktopNetTables)
     }
     from zipTree(armNetTables)
     into netTablesUnzipLocation
 }
 
+def armWpiUtilDependency =
+    project.dependencies.create("edu.wpi.first.wpilib:wpiutil:1.0.0-SNAPSHOT:arm@zip")
+def armWpiUtilConfig = project.configurations.detachedConfiguration(armWpiUtilDependency)
+armWpiUtilConfig.setTransitive(false)
+def armWpiUtil = armWpiUtilConfig.files[0].canonicalFile
+
+def desktopWpiUtil
+if (project.hasProperty('makeSim')) {
+    def desktopWpiUtilDependency =
+        project.dependencies.create("edu.wpi.first.wpilib:wpiutil:1.0.0-SNAPSHOT:desktop@zip")
+    def desktopWpiUtilConfig = project.configurations.detachedConfiguration(desktopWpiUtilDependency)
+    desktopWpiUtilConfig.setTransitive(false)
+    desktopWpiUtil = desktopWpiUtilConfig.files[0].canonicalFile
+}
+
+def wpiUtilUnzipLocation = "$buildDir/wpiutil"
+
+// Create a task that will unzip the wpiutil files into a temporary build directory
+task unzipWpiUtil(type: Copy) {
+    description = 'Unzips the wpiutil maven dependency so that the include files and libraries can be used'
+    group = 'WPILib'
+    if (project.hasProperty('makeSim')) {
+        from zipTree(desktopWpiUtil)
+    }
+    from zipTree(armWpiUtil)
+    into wpiUtilUnzipLocation
+}
+
 task clean(type: Delete) {
     description = "Deletes the build directory"
     group = "Build"
@@ -55,6 +83,24 @@ task clean(type: Delete) {
 
 subprojects {
     plugins.withType(CppPlugin).whenPluginAdded {
+        ext.defineWpiUtilProperties = {
+            ext.wpiUtil = wpiUtilUnzipLocation
+            ext.wpiUtilInclude = "$wpiUtilUnzipLocation/include"
+            ext.wpiUtilLibArmLocation = "$wpiUtilUnzipLocation/Linux/arm"
+            if (project.hasProperty('makeSim')) {
+                ext.wpiUtilLibDesktopLocation = "$wpiUtilUnzipLocation/Linux/amd64"
+            }
+            ext.wpiUtilStaticLib = "$wpiUtilLibArmLocation/libwpiutil.a"
+
+            ext.addWpiUtilLibraryLinks = { compileTask, linker, targetPlatform ->
+                compileTask.dependsOn project(':').unzipWpiUtil
+                String architecture = targetPlatform.architecture
+                if (architecture.contains('arm')) {
+                    linker.args wpiUtilStaticLib
+                }
+            }
+        }
+
         // This defines a project property that projects depending on network tables can use to setup that dependency.
         ext.defineNetworkTablesProperties = {
             ext.netTables = netTablesUnzipLocation
@@ -72,6 +118,7 @@ subprojects {
                 if (architecture.contains('arm')) {
                     linker.args netStaticLib
                 }
+                addWpiUtilLibraryLinks(compileTask, linker, targetPlatform)
             }
         }
 

ni-libraries/libwpi_2015.so

@@ -1,3 +1,3 @@
 /* GNU ld script */
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( AS_NEEDED ( -lwpilib_nonshared -lHALAthena -lntcore -lFRC_NetworkCommunication -li2c -lni_emb -lNiFpgaLv -lNiFpga -lnirio_emb_can -lNiRioSrv -lni_rtlog -lRoboRIO_FRC_ChipObject -lspi -lvisa -ldl -lpthread -lrt -lGCBase_gcc-4.4-arm_v2_3 -lGenApi_gcc-4.4-arm_v2_3 -lLog_gcc-4.4-arm_v2_3 -lMathParser_gcc-4.4-arm_v2_3 -llog4cpp_gcc-4.4-arm_v2_3 -lniimaqdx -lnivision -lnivissvc -lnipalu) )
+GROUP ( AS_NEEDED ( -lwpilib_nonshared -lHALAthena -lntcore -lwpiutil -lFRC_NetworkCommunication -li2c -lni_emb -lNiFpgaLv -lNiFpga -lnirio_emb_can -lNiRioSrv -lni_rtlog -lRoboRIO_FRC_ChipObject -lspi -lvisa -ldl -lpthread -lrt -lGCBase_gcc-4.4-arm_v2_3 -lGenApi_gcc-4.4-arm_v2_3 -lLog_gcc-4.4-arm_v2_3 -lMathParser_gcc-4.4-arm_v2_3 -llog4cpp_gcc-4.4-arm_v2_3 -lniimaqdx -lnivision -lnivissvc -lnipalu) )

wpilibc/athena.gradle

@@ -1,4 +1,5 @@
 defineNetworkTablesProperties()
+defineWpiUtilProperties()
 
 def ntSourceDir = "$buildDir/ntSources"
 
@@ -19,7 +20,7 @@ model {
                         includes = ['**/*.cpp']
                     }
                     exportedHeaders {
-                        srcDirs = ["${project.shared}/include", "${project.athena}/include", netTablesInclude]
+                        srcDirs = ["${project.shared}/include", "${project.athena}/include", netTablesInclude, wpiUtilInclude]
                         includes = ['**/*.h']
                     }
                     lib project: ':hal', library: 'HALAthena', linkage: 'static'
@@ -83,6 +84,9 @@ task wpilibcZip(type: Zip) {
     from(netStaticLib) {
         into 'lib'
     }
+    from(wpiUtilStaticLib) {
+        into 'lib'
+    }
 
     // We rename the libHALAthena.so object to libHALAthena_shared.so, and the same for libntcore.so
     rename('(libHALAthena)(.so)', '$1_shared$2')

wpilibc/simulation.gradle

@@ -76,6 +76,10 @@ task wpilibcSimCopy(type: Copy, dependsOn: allcsim) {
         into "include"
     }
 
+    from ("$wpiUtilInclude"){
+        into "include"
+    }
+
     from ("../hal/include"){
         into "include"
     }

wpilibcIntegrationTests/build.gradle

@@ -1,6 +1,7 @@
 apply plugin: 'cpp'
 
 defineNetworkTablesProperties()
+defineWpiUtilProperties()
 
 ext.shared = "${project(':wpilibc').projectDir.getAbsolutePath()}/shared"
 ext.athena = "${project(':wpilibc').projectDir.getAbsolutePath()}/athena"