Split the two command implementations into separate libraries (#2012)

This will allow us at the user code side to determine to include old commands, new commands or both.

myRobot/build.gradle

@@ -42,6 +42,8 @@ dependencies {
     compile project(':ntcore')
     compile project(':cscore')
     compile project(':cameraserver')
+    compile project(':wpilibOldCommands')
+    compile project(':wpilibNewCommands')
 }
 
 jar {
@@ -66,6 +68,8 @@ 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: ':ntcore', library: 'ntcore', linkage: 'shared'
                     lib project: ':cscore', library: 'cscore', linkage: 'shared'
@@ -93,6 +97,8 @@ model {
                 }
             }
             binaries.all { binary ->
+                    lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'shared'
+                    lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
                     lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
                     lib project: ':ntcore', library: 'ntcore', linkage: 'static'
                     lib project: ':cscore', library: 'cscore', linkage: 'static'

settings.gradle

@@ -33,5 +33,7 @@ include 'simulation:halsim_ds_socket'
 include 'simulation:halsim_gui'
 include 'cameraserver'
 include 'cameraserver:multiCameraServer'
+include 'wpilibOldCommands'
+include 'wpilibNewCommands'
 include 'myRobot'
 include 'docs'

wpilibNewCommands/build.gradle

@@ -0,0 +1,96 @@
+ext {
+    nativeName = 'wpilibNewCommands'
+    devMain = 'edu.wpi.first.wpilibj.commands.DevMain'
+}
+
+evaluationDependsOn(':ntcore')
+evaluationDependsOn(':cscore')
+evaluationDependsOn(':hal')
+evaluationDependsOn(':wpilibc')
+evaluationDependsOn(':cameraserver')
+evaluationDependsOn(':wpilibj')
+
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+
+dependencies {
+    compile project(':wpiutil')
+    compile project(':ntcore')
+    compile project(':cscore')
+    compile project(':hal')
+    compile project(':wpilibj')
+    devCompile project(':wpiutil')
+    devCompile project(':ntcore')
+    devCompile project(':cscore')
+    devCompile project(':hal')
+    devCompile project(':wpilibj')
+    testCompile 'com.google.guava:guava:19.0'
+    testCompile 'org.mockito:mockito-core:2.27.0'
+}
+
+nativeUtils.exportsConfigs {
+    wpilibNewCommands {
+        x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+        x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+                            '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+                            '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+                            '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+    }
+}
+
+apply from: "${rootDir}/shared/nilibraries.gradle"
+
+apply plugin: DisableBuildingGTest
+
+model {
+    components {}
+    binaries {
+        all {
+            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
+                return
+            }
+            lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
+            lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+            project(':hal').addHalDependency(it, 'shared')
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+
+            if (it.component.name == "${nativeName}Dev") {
+              lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
+              project(':hal').addHalJniDependency(it)
+            }
+
+            if (it instanceof GoogleTestTestSuiteBinarySpec) {
+                nativeUtils.useRequiredLibrary(it, 'opencv_shared')
+                lib project: ':cscore', library: 'cscore', linkage: 'shared'
+            }
+        }
+    }
+    tasks {
+        def c = $.components
+        def found = false
+        def systemArch = getCurrentArch()
+        c.each {
+            if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
+                it.binaries.each {
+                    if (!found) {
+                        def arch = it.targetPlatform.name
+                        if (arch == systemArch) {
+                            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+
+                            found = true
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+test {
+    testLogging {
+        outputs.upToDateWhen {false}
+        showStandardStreams = true
+    }
+}

wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.hal.HALUtil;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.wpiutil.RuntimeDetector;
+
+public final class DevMain {
+  /**
+   * Main entry point.
+   */
+  public static void main(String[] args) {
+    System.out.println("Hello World!");
+    System.out.println(RuntimeDetector.getPlatformPath());
+    System.out.println(NetworkTablesJNI.now());
+    System.out.println(HALUtil.getHALRuntimeType());
+  }
+
+  private DevMain() {
+  }
+}

wpilibNewCommands/src/dev/native/cpp/main.cpp

@@ -0,0 +1,8 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+int main() {}

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -9,7 +9,6 @@
 
 #include <frc/RobotState.h>
 #include <frc/WPIErrors.h>
-#include <frc/commands/Scheduler.h>
 #include <frc/smartdashboard/SendableBuilder.h>
 #include <frc/smartdashboard/SendableRegistry.h>
 #include <frc2/command/CommandGroupBase.h>