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Enables MyRobot project (#1028)

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This commit is contained in:
Thad House
2018-05-13 22:00:15 -07:00
committed by Peter Johnson
parent f07799c67b
commit f3db329115
2 changed files with 95 additions and 57 deletions
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151
myRobot/build.gradle
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@@ -1,88 +1,118 @@
import org.gradle.language.base.internal.ProjectLayout
plugins {
id 'java'
id 'application'
id 'cpp'
id 'visual-studio'
id 'com.github.johnrengelman.shadow' version '2.0.3' apply false
}
apply plugin: 'edu.wpi.first.NativeUtils'
apply from: '../shared/config.gradle'
ext {
sharedCvConfigs = [myRobotCpp: []]
staticCvConfigs = [myRobotCppStatic: []]
useJava = true
useCpp = true
skipDev = true
}
apply from: "${rootDir}/shared/opencv.gradle"
mainClassName = 'edu.wpi.first.wpilibj.RobotBase'
apply plugin: 'com.github.johnrengelman.shadow'
repositories {
mavenCentral()
}
apply plugin: 'cpp'
apply plugin: 'java'
apply plugin: 'visual-studio'
apply plugin: 'edu.wpi.first.NativeUtils'
apply from: '../config.gradle'
dependencies {
compile project(':wpilibj')
compile 'edu.wpi.first.wpiutil:wpiutil-java:+'
compile 'edu.wpi.first.ntcore:ntcore-java:+'
compile project(':hal')
compile project(':wpiutil')
compile project(':ntcore')
compile project(':cscore')
compile project(':cameraserver')
}
jar {
manifest { attributes 'Robot-Class': 'MyRobot' }
}
model {
dependencyConfigs {
wpiutil(DependencyConfig) {
groupId = 'edu.wpi.first.wpiutil'
artifactId = 'wpiutil-cpp'
headerClassifier = 'headers'
ext = 'zip'
version = '+'
sharedConfigs = [ FRCUserProgram: [] ]
}
ntcore(DependencyConfig) {
groupId = 'edu.wpi.first.ntcore'
artifactId = 'ntcore-cpp'
headerClassifier = 'headers'
ext = 'zip'
version = '+'
sharedConfigs = [ FRCUserProgram: [] ]
}
cscore(DependencyConfig) {
groupId = 'edu.wpi.first.cscore'
artifactId = 'cscore-cpp'
headerClassifier = 'headers'
ext = 'zip'
version = '+'
sharedConfigs = [ FRCUserProgram: [] ]
}
opencv(DependencyConfig) {
groupId = 'org.opencv'
artifactId = 'opencv-cpp'
headerClassifier = 'headers'
ext = 'zip'
version = '3.2.0'
sharedConfigs = [ FRCUserProgram: [] ]
}
}
components {
FRCUserProgram(NativeExecutableSpec) {
myRobotCpp(NativeExecutableSpec) {
baseName = 'FRCUserProgram'
sources {
cpp {
source {
srcDirs = ['src/main/native/cpp']
includes = ['**/*.cpp']
}
exportedHeaders {
srcDirs = ['src/main/native/headers']
srcDirs = ['src/main/native/include']
includes = ['**/*.h']
}
}
}
binaries.all { binary->
project(':ni-libraries').addNiLibrariesToLinker(binary)
project(':hal').addHalToLinker(binary)
project(':wpilibc').addWpilibCCompilerArguments(binary)
project(':wpilibc').addWpilibCToLinker(binary)
binaries.all { binary ->
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
lib project: ':cscore', library: 'cscore', linkage: 'shared'
lib project: ':hal', library: 'hal', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
project(':ni-libraries').addNiLibrariesToLinker(binary)
}
}
myRobotCppStatic(NativeExecutableSpec) {
baseName = 'FRCUserProgram'
sources {
cpp {
source {
srcDirs = ['src/main/native/cpp']
includes = ['**/*.cpp']
}
exportedHeaders {
srcDirs = ['src/main/native/include']
includes = ['**/*.h']
}
}
}
binaries.all { binary ->
lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
lib project: ':ntcore', library: 'ntcore', linkage: 'static'
lib project: ':cscore', library: 'cscore', linkage: 'static'
lib project: ':hal', library: 'hal', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
project(':ni-libraries').addNiLibrariesToLinker(binary)
}
}
}
tasks {
runCpp(Exec) {
def c = $.components
project.tasks.create('runCpp', Exec) {
group = 'WPILib'
description = "Run the myRobotCpp executable"
def found = false
$.components.each {
if (it in NativeExecutableSpec && it.name == 'FRCUserProgram') {
def systemArch = getCurrentArch()
c.each {
if (it in NativeExecutableSpec && it.name == "myRobotCpp") {
it.binaries.each {
if (!found) {
def arch = it.targetPlatform.architecture.name
if (arch == 'x86-64' || arch == 'x86') {
if (arch == systemArch) {
dependsOn it.tasks.install
commandLine it.tasks.install.runScript
commandLine it.tasks.install.runScriptFile.get().asFile.toString()
def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
run.dependsOn it.tasks.install
run.systemProperty 'java.library.path', filePath
run.environment 'LD_LIBRARY_PATH', filePath
run.workingDir filePath
found = true
}
}
@@ -92,7 +122,14 @@ model {
}
installAthena(Task) {
$.binaries.each {
if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena') {
if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena' && it.component.name == 'myRobotCpp') {
dependsOn it.tasks.install
}
}
}
installAthenaStatic(Task) {
$.binaries.each {
if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena' && it.component.name == 'myRobotCppStatic') {
dependsOn it.tasks.install
}
}

1
settings.gradle
View File

@@ -22,3 +22,4 @@ include 'simulation:halsim_lowfi'
include 'simulation:halsim_adx_gyro_accelerometer'
include 'simulation:halsim_ds_nt'
include 'cameraserver'
include 'myRobot'