This also makes the Gradle build work with JDK 17.
The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834
PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
The wpimath library is a new library designed to separate the reusable math functionality
from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j).
Package names / include file names were NOT changed to minimize breakage. In a future year
it would be good to revamp these for a more uniform user experience and to reduce the risk
of accidental naming conflicts.
While theoretically all of this functionality could be placed into wpiutil, several pieces
of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this
expense for users who only want cscore or ntcore. It also allows for easy future separation
of build tasks vs number of workers on memory-constrained machines.
This moves the following functionality from wpiutil into wpimath:
- Eigen
- ejml
- Drake
- DARE
- wpiutil.math package (Matrix etc)
- units
And the following functionality from wpilibc/j into wpimath:
- Geometry
- Kinematics
- Spline
- Trajectory
- LinearFilter
- MedianFilter
- Feed-forward controllers
* Add new combined native class loader
Allows us to extract a list of binaries that depend on each other, and load them successfully
It is correct that there is no implementation in wpiutil for the new native method. That is a requirement, because its needed to load the libraries, and we cant load the wpiutiljni native library since it depends on wpiutil. Instead we have a separate library built with the tools plugin that handles everything
This class provides an easy way to forward local ports to another host/port.
This is primarily useful to provide a way to access Ethernet-connected devices
from a computer tethered to the RoboRIO USB port.
The most natural spot to put the shared implementation of this class was into
wpiutil, so a wpiutilJNI library has been added.
This adds a wrapper over EJML's SimpleMatrix that uses generated classes representing numbers to encode the dimensions of each matrix at compile time, and to check operations between matrices for validity at compile time, rather than failing with an exception at runtime. This is required for the Java implementation of state-space control.
Additions to the wpiutil gradle script, and a python script at the wpiutil root are used to generate numeric types from a template at build time for both gradle and cmake. Users will be able to access types through functions on the Nat class.
Add EJML as the Java library for linear algebra for use in wpilib. This is equivalent to Eigen for C++.
The EJML dependency is downloaded in cmake and pulled in via maven in the gradle build.
The size of the directory_entry was different between translation units.
This was caused by the FILE_OFFSET_BITS macro when building wpiutil.
Removing that fixes the issue.
Should fix NavX USB issues.
- Build both debug and release binaries
- Append "d" to debug libraries in the style of opencv
- Split shared and static classifiers
- Add raspbian support
