mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
Rename myRobot to developerRobot and move docs to subproject (#6283)
This commit is contained in:
Tyler Veness
324
developerRobot/build.gradle
Normal file
324
developerRobot/build.gradle
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@@ -0,0 +1,324 @@
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import edu.wpi.first.deployutils.deploy.target.RemoteTarget
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import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
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import edu.wpi.first.deployutils.deploy.artifact.*
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import org.gradle.internal.os.OperatingSystem
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plugins {
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id 'java'
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id 'application'
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id 'cpp'
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id 'visual-studio'
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}
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apply plugin: 'edu.wpi.first.NativeUtils'
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apply plugin: 'edu.wpi.first.DeployUtils'
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apply from: '../shared/config.gradle'
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application {
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if (OperatingSystem.current().isMacOsX()) {
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applicationDefaultJvmArgs = ['-XstartOnFirstThread']
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}
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}
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ext {
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sharedCvConfigs = [developerRobotCpp: []]
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staticCvConfigs = [developerRobotCppStatic: []]
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useJava = true
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useCpp = true
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skipDev = true
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}
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apply from: "${rootDir}/shared/opencv.gradle"
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application {
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mainClass = 'frc.robot.Main'
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}
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apply plugin: 'com.github.johnrengelman.shadow'
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repositories {
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maven {
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url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
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}
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}
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dependencies {
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implementation project(':wpilibj')
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implementation project(':wpimath')
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implementation project(':hal')
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implementation project(':wpiutil')
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implementation project(':wpinet')
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implementation project(':ntcore')
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implementation project(':cscore')
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implementation project(':cameraserver')
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implementation project(':wpilibNewCommands')
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implementation project(':apriltag')
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}
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tasks.withType(com.github.spotbugs.snom.SpotBugsTask).configureEach {
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onlyIf { false }
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}
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def simProjects = ['halsim_gui']
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deploy {
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targets {
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roborio(RemoteTarget) {
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directory = '/home/lvuser'
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maxChannels = 4
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locations {
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ssh(SshDeployLocation) {
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address = "172.22.11.2"
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user = 'admin'
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password = ''
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ipv6 = false
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}
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}
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def remote = it
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artifacts.registerFactory(WPIJREArtifact) {
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return objects.newInstance(WPIJREArtifact, it, remote)
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}
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artifacts {
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all {
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predeploy << { ctx ->
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ctx.execute('. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null')
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ctx.execute("sed -i -e 's/\"exec /\"/' /usr/local/frc/bin/frcRunRobot.sh")
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}
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postdeploy << { ctx ->
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ctx.execute("sync")
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ctx.execute("ldconfig")
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}
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}
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developerRobotCpp(NativeExecutableArtifact) {
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libraryDirectory = '/usr/local/frc/third-party/lib'
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def excludes = getLibraryFilter().getExcludes()
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excludes.add('**/*.so.debug')
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excludes.add('**/*.so.*.debug')
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postdeploy << { ctx ->
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ctx.execute("echo '/home/lvuser/developerRobotCpp' > /home/lvuser/robotCommand")
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ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
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ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/developerRobotCpp\"")
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ctx.execute('chmod +x developerRobotCpp')
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}
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}
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developerRobotCppStatic(NativeExecutableArtifact) {
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libraryDirectory = '/usr/local/frc/third-party/lib'
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postdeploy << { ctx ->
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ctx.execute("echo '/home/lvuser/developerRobotCppStatic' > /home/lvuser/robotCommand")
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ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
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ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/developerRobotCppStatic\"")
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ctx.execute('chmod +x developerRobotCppStatic')
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}
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}
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developerRobotCppJava(NativeExecutableArtifact) {
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libraryDirectory = '/usr/local/frc/third-party/lib'
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def excludes = getLibraryFilter().getExcludes()
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excludes.add('**/*.so.debug')
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excludes.add('**/*.so.*.debug')
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}
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jre(WPIJREArtifact) {
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}
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developerRobotJava(JavaArtifact) {
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jarTask = shadowJar
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postdeploy << { ctx ->
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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")
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ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
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}
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}
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}
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}
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}
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}
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tasks.register('deployJava') {
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try {
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dependsOn tasks.named('deployjreroborio')
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dependsOn tasks.named('deploydeveloperRobotJavaroborio')
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dependsOn tasks.named('deploydeveloperRobotCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
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} catch (ignored) {
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}
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}
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tasks.register('deployShared') {
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try {
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dependsOn tasks.named('deploydeveloperRobotCpproborio')
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} catch (ignored) {
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}
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}
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tasks.register('deployStatic') {
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try {
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dependsOn tasks.named('deploydeveloperRobotCppStaticroborio')
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} catch (ignored) {
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}
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}
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model {
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components {
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developerRobotCpp(NativeExecutableSpec) {
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targetBuildTypes 'debug'
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sources {
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cpp {
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source {
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srcDirs = ['src/main/native/cpp']
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includes = ['**/*.cpp']
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}
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exportedHeaders {
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srcDirs = ['src/main/native/include']
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includes = ['**/*.h']
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}
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}
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}
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binaries.all { binary ->
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if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
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if (binary.buildType.name == 'debug') {
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deploy.targets.roborio.artifacts.developerRobotCpp.binary = binary
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deploy.targets.roborio.artifacts.developerRobotCppJava.binary = binary
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}
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}
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lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
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lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
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lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
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lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
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lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
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project(':ntcore').addNtcoreDependency(binary, 'shared')
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project(':ntcore').addNtcoreJniDependency(binary)
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lib project: ':cscore', library: 'cscore', linkage: 'shared'
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lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
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lib project: ':wpimath', library: 'wpimathJNIShared', linkage: 'shared'
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lib project: ':wpinet', library: 'wpinetJNIShared', linkage: 'shared'
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lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
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project(':hal').addHalDependency(binary, 'shared')
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project(':hal').addHalJniDependency(binary)
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lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
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lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
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if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
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nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
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} else {
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def systemArch = getCurrentArch()
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if (binary.targetPlatform.name == systemArch) {
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simProjects.each {
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lib project: ":simulation:$it", library: it, linkage: 'shared'
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}
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}
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}
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}
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}
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developerRobotCppStatic(NativeExecutableSpec) {
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targetBuildTypes 'debug'
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nativeUtils.excludeBinariesFromStrip(it)
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sources {
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cpp {
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source {
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srcDirs = ['src/main/native/cpp']
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includes = ['**/*.cpp']
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}
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exportedHeaders {
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srcDirs = ['src/main/native/include']
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includes = ['**/*.h']
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}
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}
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}
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binaries.all { binary ->
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if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
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if (binary.buildType.name == 'debug') {
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deploy.targets.roborio.artifacts.developerRobotCppStatic.binary = binary
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}
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}
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lib project: ':apriltag', library: 'apriltag', linkage: 'static'
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lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
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lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
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lib project: ':wpimath', library: 'wpimath', linkage: 'static'
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lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
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project(':ntcore').addNtcoreDependency(binary, 'static')
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lib project: ':cscore', library: 'cscore', linkage: 'static'
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project(':hal').addHalDependency(binary, 'static')
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lib project: ':wpinet', library: 'wpinet', linkage: 'static'
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lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
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if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
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nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
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}
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}
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}
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}
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tasks {
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def c = $.components
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project.tasks.create('runCpp', Exec) {
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group = 'WPILib'
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description = "Run the developerRobotCpp executable"
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def found = false
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def systemArch = getCurrentArch()
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def runTask = it
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c.each {
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if (it in NativeExecutableSpec && it.name == "developerRobotCpp") {
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it.binaries.each {
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if (!found) {
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def arch = it.targetPlatform.name
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if (arch == systemArch) {
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dependsOn it.tasks.install
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commandLine it.tasks.install.runScriptFile.get().asFile.toString()
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def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
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run.dependsOn it.tasks.install
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run.systemProperty 'java.library.path', filePath
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run.environment 'LD_LIBRARY_PATH', filePath
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run.environment 'DYLD_LIBRARY_PATH', filePath
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def installTask = it.tasks.install
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def doFirstTask = {
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def extensions = '';
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installTask.installDirectory.get().getAsFile().eachFileRecurse {
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def name = it.name
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if (!(name.endsWith('.dll') || name.endsWith('.so') || name.endsWith('.dylib'))) {
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return
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}
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def file = it
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simProjects.each {
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if (name.startsWith(it) || name.startsWith("lib$it".toString())) {
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extensions += file.absolutePath + File.pathSeparator
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}
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}
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}
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if (extensions != '') {
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run.environment 'HALSIM_EXTENSIONS', extensions
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runTask.environment 'HALSIM_EXTENSIONS', extensions
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}
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}
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runTask.doFirst doFirstTask
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run.doFirst doFirstTask
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run.workingDir filePath
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found = true
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}
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}
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}
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}
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}
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}
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installAthena(Task) {
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$.binaries.each {
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if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'developerRobotCpp') {
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dependsOn it.tasks.install
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}
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}
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}
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installAthenaStatic(Task) {
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$.binaries.each {
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if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'developerRobotCppStatic') {
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dependsOn it.tasks.install
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}
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}
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}
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}
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}
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