Add support for aarch64 jetson bionic builds (#1844)

azure-pipelines.yml

@@ -9,6 +9,8 @@ resources:
     image: wpilib/roborio-cross-ubuntu:2020-18.04
   - container: raspbian
     image:  wpilib/raspbian-cross-ubuntu:10-18.04
+  - container: aarch64
+    image:  wpilib/aarch64-cross-ubuntu:bionic-18.04
   - container: ubuntu
     image:  wpilib/ubuntu-base:18.04
 
@@ -92,6 +94,40 @@ stages:
           artifactName: 'Raspbian'
           targetPath: 'build/allOutputs'
 
+  - job: Linux_Aarch64
+    pool:
+      vmImage: 'Ubuntu 16.04'
+
+    container: aarch64
+
+    steps:
+      - task: Gradle@2
+        condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+        inputs:
+          workingDirectory: ''
+          gradleWrapperFile: 'gradlew'
+          gradleOptions: '-Xmx3072m'
+          publishJUnitResults: true
+          testResultsFiles: '**/TEST-*.xml'
+          tasks: 'build'
+          options: '-Ponlylinuxaarch64bionic -PbuildServer'
+
+      - task: Gradle@2
+        condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+        inputs:
+          workingDirectory: ''
+          gradleWrapperFile: 'gradlew'
+          gradleOptions: '-Xmx3072m'
+          publishJUnitResults: true
+          testResultsFiles: '**/TEST-*.xml'
+          tasks: 'build'
+          options: '-Ponlylinuxaarch64bionic -PreleaseMode -PbuildServer'
+
+      - task: PublishPipelineArtifact@0
+        inputs:
+          artifactName: 'Aarch64'
+          targetPath: 'build/allOutputs'
+
   - job: Linux
     pool:
       vmImage: 'Ubuntu 16.04'
@@ -312,6 +348,10 @@ stages:
       inputs:
         artifactName: 'Athena'
         targetPath: 'build-tools/combiner/products/build/allOutputs'
+    - task: DownloadPipelineArtifact@0
+      inputs:
+        artifactName: 'Aarch64'
+        targetPath: 'build-tools/combiner/products/build/allOutputs'
 
 # PR Builds
     - task: Gradle@2

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    compile "edu.wpi.first:native-utils:2020.0.5"
+    compile "edu.wpi.first:native-utils:2020.0.6"
 }

shared/config.gradle

@@ -2,6 +2,7 @@ import org.gradle.internal.os.OperatingSystem
 
 nativeUtils.addWpiNativeUtils()
 nativeUtils.withRaspbian()
+nativeUtils.withBionic()
 nativeUtils {
   wpi {
     configureDependencies {

shared/java/javacommon.gradle

@@ -82,7 +82,7 @@ test {
     finalizedBy jacocoTestReport
 }
 
-if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxraspbian')) {
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxraspbian') || project.hasProperty('onlylinuxaarch64bionic')) {
     test.enabled = false
 }
 

shared/plugins/setupBuild.gradle

@@ -57,7 +57,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     }
                 }
                 binaries.all {
-                    if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
+                    if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')  && !project.hasProperty('onlylinuxaarch64bionic')) {
                         project(':hal').addHalDependency(it, 'shared')
                         lib library: pluginName
                         if (project.hasProperty('includeNtCore')) {
@@ -78,7 +78,7 @@ if (!project.hasProperty('onlylinuxathena')) {
 model {
     tasks {
         def c = $.components
-        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
             project.tasks.create('runCpp', Exec) {
                 group = 'WPILib'
                 description = "Run the ${pluginName}Dev executable"

simulation/halsim_adx_gyro_accelerometer/build.gradle

@@ -127,7 +127,7 @@ if (!project.hasProperty('onlylinuxathena')) {
         }
         binaries {
             withType(GoogleTestTestSuiteBinarySpec) {
-                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') &&  !project.hasProperty('onlylinuxaarch64bionic')) {
                     lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
                     lib project: ':cscore', library: 'cscore', linkage: 'shared'
                     project(':hal').addHalDependency(it, 'shared')
@@ -148,7 +148,7 @@ if (!project.hasProperty('onlylinuxathena')) {
 model {
 
     testSuites {
-        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
             "${nativeName}Test"(GoogleTestTestSuiteSpec) {
                 for(NativeComponentSpec c : $.components) {
                     if (c.name == nativeName) {

simulation/halsim_ds_socket/build.gradle

@@ -21,7 +21,7 @@ apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
 model {
     testSuites {
         def comps = $.components
-        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
             "${pluginName}Test"(GoogleTestTestSuiteSpec) {
                 for(NativeComponentSpec c : comps) {
                     if (c.name == pluginName) {

simulation/lowfi_simulation/build.gradle

@@ -151,7 +151,7 @@ if (!project.hasProperty('onlylinuxathena')) {
 model {
 
     testSuites {
-        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
             "${nativeName}Test"(GoogleTestTestSuiteSpec) {
                 for(NativeComponentSpec c : $.components) {
                     if (c.name == nativeName) {

wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java

@@ -55,6 +55,8 @@ public final class RuntimeDetector {
         filePath = "/linux/athena/";
       } else if (isRaspbian()) {
         filePath = "/linux/raspbian/";
+      } else if (isAarch64Bionic()) {
+        filePath = "/linux/aarch64bionic/";
       } else {
         filePath = "/linux/nativearm/";
       }
@@ -126,6 +128,14 @@ public final class RuntimeDetector {
     }
   }
 
+  /** check if os is bionic aarch64.
+   *
+   * @return if os is bionic aarch64
+   */
+  public static boolean isAarch64Bionic() {
+    return false;
+  }
+
   public static boolean isLinux() {
     return System.getProperty("os.name").startsWith("Linux");
   }