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Rename myRobot to developerRobot and move docs to subproject (#6283)

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This commit is contained in:
Tyler Veness
2024-05-24 10:41:23 -07:00
committed by GitHub
parent 65f4505e3c
commit ae655a3a71
10 changed files with 85 additions and 53 deletions
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4
CMakeLists.txt
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@@ -64,7 +64,7 @@ option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
option(WITH_NTCORE "Build ntcore" ON)
option(WITH_WPIMATH "Build wpimath" ON)
option(WITH_WPIUNITS "Build wpiunits" ON)
option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
option(WITH_WPILIB "Build hal, wpilibc/j, and developerRobot (needs OpenCV)" ON)
option(WITH_EXAMPLES "Build examples" OFF)
option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
option(WITH_GUI "Build GUI items" ON)
@@ -405,7 +405,7 @@ if(WITH_WPILIB)
if(WITH_EXAMPLES)
add_subdirectory(wpilibcExamples)
endif()
add_subdirectory(myRobot)
add_subdirectory(developerRobot)
endif()
if(WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)

13
DevelopmentBuilds.md
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@@ -89,15 +89,4 @@ wpi.versions.wpimathVersion = 'YEAR.424242.+'
# roboRIO Development
This repo contains a myRobot project built in way to do full project development without needing to do a full publish into GradleRIO. These also only require building the minimum amount of binaries for the roboRIO, so the builds are much faster as well.
The setup only works if the roboRIO is USB connected. If an alternate IP address is preferred, the `address` block in myRobot\build.gradle can be changed to point to another address.
The following 3 tasks can be used for deployment:
* `:myRobot:deployShared` deploys the C++ project using shared dependencies. Prefer this one for most C++ development.
* `:myRobot:deployStatic` deploys the C++ project with all dependencies statically linked.
* `:myRobot:deployJava` deploys the Java project and all required dependencies. Also installs the JRE if not currently installed.
Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
From here, ssh into the roboRIO using the `lvuser` account and run `frcRunRobot.sh` (It's in path).
See the [developerRobot](developerRobot/README.md) subproject.

8
developerRobot/CMakeLists.txt Normal file
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@@ -0,0 +1,8 @@
project(developerRobot)
include(CompileWarnings)
file(GLOB developerRobotCpp_src src/main/native/cpp/*.cpp)
add_executable(developerRobotCpp ${developerRobotCpp_src})
target_link_libraries(developerRobotCpp wpilibc)

43
developerRobot/README.md Normal file
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@@ -0,0 +1,43 @@
# Developer Robot
This is a robot project built directly against this repo's sources. It builds the minimum required for deploying to a roboRIO, so it's faster than publishing the whole library to Maven first.
This command builds everything.
```bash
./gradlew developerRobot:build
```
## Simulation
This command runs the C++ subproject on desktop.
```bash
./gradlew developerRobot:runCpp
```
## Deploy to a roboRIO
This project can only deploy over USB. If an alternate IP address is preferred, the `address` block in developerRobot\build.gradle can be changed to point to another address.
This command deploys the C++ project using shared dependencies. Prefer this one for most C++ development.
```bash
./gradlew developerRobot:deployShared
```
This command deploys the C++ project with all dependencies statically linked.
```bash
./gradlew developerRobot:deployStatic
```
This command deploys the Java project and all required dependencies. It also installs the JRE if it's not currently installed.
```bash
./gradlew developerRobot:deployJava
```
Those commands won't start the robot executable, so you have to manually ssh in and start it. The following command will do that.
```bash
ssh lvuser@172.22.11.2 frcRunRobot.sh
```
Console log prints will appear in the terminal.
Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.

52
myRobot/build.gradle → developerRobot/build.gradle
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@@ -22,8 +22,8 @@ application {
}
ext {
sharedCvConfigs = [myRobotCpp: []]
staticCvConfigs = [myRobotCppStatic: []]
sharedCvConfigs = [developerRobotCpp: []]
staticCvConfigs = [developerRobotCppStatic: []]
useJava = true
useCpp = true
skipDev = true
@@ -94,30 +94,30 @@ deploy {
}
}
myRobotCpp(NativeExecutableArtifact) {
developerRobotCpp(NativeExecutableArtifact) {
libraryDirectory = '/usr/local/frc/third-party/lib'
def excludes = getLibraryFilter().getExcludes()
excludes.add('**/*.so.debug')
excludes.add('**/*.so.*.debug')
postdeploy << { ctx ->
ctx.execute("echo '/home/lvuser/myRobotCpp' > /home/lvuser/robotCommand")
ctx.execute("echo '/home/lvuser/developerRobotCpp' > /home/lvuser/robotCommand")
ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCpp\"")
ctx.execute('chmod +x myRobotCpp')
ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/developerRobotCpp\"")
ctx.execute('chmod +x developerRobotCpp')
}
}
myRobotCppStatic(NativeExecutableArtifact) {
developerRobotCppStatic(NativeExecutableArtifact) {
libraryDirectory = '/usr/local/frc/third-party/lib'
postdeploy << { ctx ->
ctx.execute("echo '/home/lvuser/myRobotCppStatic' > /home/lvuser/robotCommand")
ctx.execute("echo '/home/lvuser/developerRobotCppStatic' > /home/lvuser/robotCommand")
ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCppStatic\"")
ctx.execute('chmod +x myRobotCppStatic')
ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/developerRobotCppStatic\"")
ctx.execute('chmod +x developerRobotCppStatic')
}
}
myRobotCppJava(NativeExecutableArtifact) {
developerRobotCppJava(NativeExecutableArtifact) {
libraryDirectory = '/usr/local/frc/third-party/lib'
def excludes = getLibraryFilter().getExcludes()
excludes.add('**/*.so.debug')
@@ -127,10 +127,10 @@ deploy {
jre(WPIJREArtifact) {
}
myRobotJava(JavaArtifact) {
developerRobotJava(JavaArtifact) {
jarTask = shadowJar
postdeploy << { ctx ->
ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseSerialGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/myRobot-all.jar' > /home/lvuser/robotCommand")
ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseSerialGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/developerRobot-all.jar' > /home/lvuser/robotCommand")
ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
}
}
@@ -142,29 +142,29 @@ deploy {
tasks.register('deployJava') {
try {
dependsOn tasks.named('deployjreroborio')
dependsOn tasks.named('deploymyRobotJavaroborio')
dependsOn tasks.named('deploymyRobotCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
dependsOn tasks.named('deploydeveloperRobotJavaroborio')
dependsOn tasks.named('deploydeveloperRobotCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
} catch (ignored) {
}
}
tasks.register('deployShared') {
try {
dependsOn tasks.named('deploymyRobotCpproborio')
dependsOn tasks.named('deploydeveloperRobotCpproborio')
} catch (ignored) {
}
}
tasks.register('deployStatic') {
try {
dependsOn tasks.named('deploymyRobotCppStaticroborio')
dependsOn tasks.named('deploydeveloperRobotCppStaticroborio')
} catch (ignored) {
}
}
model {
components {
myRobotCpp(NativeExecutableSpec) {
developerRobotCpp(NativeExecutableSpec) {
targetBuildTypes 'debug'
sources {
cpp {
@@ -181,8 +181,8 @@ model {
binaries.all { binary ->
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
if (binary.buildType.name == 'debug') {
deploy.targets.roborio.artifacts.myRobotCpp.binary = binary
deploy.targets.roborio.artifacts.myRobotCppJava.binary = binary
deploy.targets.roborio.artifacts.developerRobotCpp.binary = binary
deploy.targets.roborio.artifacts.developerRobotCppJava.binary = binary
}
}
lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
@@ -213,7 +213,7 @@ model {
}
}
}
myRobotCppStatic(NativeExecutableSpec) {
developerRobotCppStatic(NativeExecutableSpec) {
targetBuildTypes 'debug'
nativeUtils.excludeBinariesFromStrip(it)
sources {
@@ -231,7 +231,7 @@ model {
binaries.all { binary ->
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
if (binary.buildType.name == 'debug') {
deploy.targets.roborio.artifacts.myRobotCppStatic.binary = binary
deploy.targets.roborio.artifacts.developerRobotCppStatic.binary = binary
}
}
lib project: ':apriltag', library: 'apriltag', linkage: 'static'
@@ -254,12 +254,12 @@ model {
def c = $.components
project.tasks.create('runCpp', Exec) {
group = 'WPILib'
description = "Run the myRobotCpp executable"
description = "Run the developerRobotCpp executable"
def found = false
def systemArch = getCurrentArch()
def runTask = it
c.each {
if (it in NativeExecutableSpec && it.name == "myRobotCpp") {
if (it in NativeExecutableSpec && it.name == "developerRobotCpp") {
it.binaries.each {
if (!found) {
def arch = it.targetPlatform.name
@@ -308,14 +308,14 @@ model {
}
installAthena(Task) {
$.binaries.each {
if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'myRobotCpp') {
if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'developerRobotCpp') {
dependsOn it.tasks.install
}
}
}
installAthenaStatic(Task) {
$.binaries.each {
if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'myRobotCppStatic') {
if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'developerRobotCppStatic') {
dependsOn it.tasks.install
}
}

2
myRobot/src/main/java/frc/robot/Main.java → developerRobot/src/main/java/frc/robot/Main.java
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@@ -15,6 +15,6 @@ public final class Main {
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(MyRobot::new);
RobotBase.startRobot(Robot::new);
}
}

2
myRobot/src/main/java/frc/robot/MyRobot.java → developerRobot/src/main/java/frc/robot/Robot.java
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@@ -6,7 +6,7 @@ package frc.robot;
import edu.wpi.first.wpilibj.TimedRobot;
public class MyRobot extends TimedRobot {
public class Robot extends TimedRobot {
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.

4
myRobot/src/main/native/cpp/MyRobot.cpp → developerRobot/src/main/native/cpp/Robot.cpp
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@@ -4,7 +4,7 @@
#include <frc/TimedRobot.h>
class MyRobot : public frc::TimedRobot {
class Robot : public frc::TimedRobot {
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
@@ -43,5 +43,5 @@ class MyRobot : public frc::TimedRobot {
};
int main() {
return frc::StartRobot<MyRobot>();
return frc::StartRobot<Robot>();
}

8
myRobot/CMakeLists.txt
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@@ -1,8 +0,0 @@
project(myRobot)
include(CompileWarnings)
file(GLOB myRobotCpp_src src/main/native/cpp/*.cpp)
add_executable(myRobotCpp ${myRobotCpp_src})
target_link_libraries(myRobotCpp wpilibc)

2
settings.gradle
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@@ -52,7 +52,7 @@ include 'cameraserver:multiCameraServer'
include 'wpilibNewCommands'
include 'romiVendordep'
include 'xrpVendordep'
include 'myRobot'
include 'developerRobot'
include 'docs'
include 'msvcruntime'
include 'ntcoreffi'