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Fredric Silberberg 1e4e0bacde Gradle Build 
This adds gradle support for building wpilibj and wpilibc. At this
point, both of these libraries should be fully ready to go.

Gradle should give us a number of improvements, including less
dependencies for getting building up and running, and MUCH faster build
times. I'm noticing significantly faster build times already compared to
Maven, with neither system building the plugins. The changes here should
be pretty straight forward. The basic command for gradle is './gradlew'.
This is the gradle wrapper, and it will find and download the correct
gradle executable for your system. There is no need to install anything
yourself. To see every task available, run './gradlew tasks'. The
important tasks for us are listed under the WPILib header when the tasks
command is run. To generate unit test binaries, the
fRCUserProgramExecutable command will create the C++ tester, and the
wpilibjIntegrationTestJar command will create the Java tester. The Jenkins
deploy scripts have been modified to know the difference between maven
generated and gradle generated jars with an environment variable. Creating
the eclipse plugins still requires Maven, but gradle will handle calling
it correctly and generating the proper dependencies for it. Create the
plugins by calling ./gradlew eclipsePlugins.

Jenkins can now be modified to support the new build system. Unit tests
are run with ./gradlew test. Generating the integration tests uses the
above two commands, and then process proceeds exactly as it did before.
For publishing documentation, a new task has been created, ./gradlew
publishDocs, which handles putting the documentation where Jenkins expects
for publishing.

Change-Id: I9a260d391984f98ef9170993efe933e4026161dc
2015-05-20 16:22:17 -04:00
..
include
Add encoder indexing support in C++
2015-01-07 00:06:45 -05:00
lib/Athena
Use PCM Device ID when getting status. Fixes artf4014.
2015-02-15 16:43:09 -08:00
build.gradle
Gradle Build
2015-05-20 16:22:17 -04:00
CMakeLists.txt
HAL: build shared library as well as static library.
2014-10-03 19:13:34 -07:00
README.org
Initial checkin of unified hierarchy of WPILib 2015
2013-12-15 18:30:16 -05:00

README.org

Purpose

The HAL is a hardware abstraction layer that provides a uniform interface that can be used to access a number of primarily I/O features in the underlying platform. The features include:

  • Analog input, accumulation and triggers
  • PWM, Relay and Solenoid output
  • Digital input and output
  • I2C and SPI communication
  • Encoders and counters
  • Interrupts and Notifiers

The initial goal is to allow a higher level like WPILib to support both the CRIO and the upcoming Athena platform only by changing which version of the HAL it's running on.

Editing

You can always use any text editor and then build with Maven. There are also eclipse project files so that it can be edited in the same eclipse environment that teams develop with. For the AthenaXX, this can be found in the root directory of this project. It imports as an FRC Robot C++ Eclipse project. The Windriver project can be imported from the src directory.

Building with Maven

There are multiple build targets that the HAL supports. Instructions for setting up the environment and building each of these is described below. Current targets are listed below:

  • All: All of the following targets.
  • include: The header files for the HAL.
  • Azalea: CRIO C++ build.
  • AthenaXX: Athena Dos Equis C++ build.
  • AthenaXXJava: Athena Dos Equis Java build with auto-generated JNA wrappers.

Output from each build target is placed in the directory target/<target-name>. So, the Azalea output is placed in target/Azalea.

All

Note: Windows only due to the Windriver requirement.

  1. Ensure that C:\WindRiver\gnu\3.4.4-vxworks-6.3\x86-win32\bin is on the system path so that ccppc and arppc can be accessed.
  2. Set the environment variable WIND_BASE to C:\WindRiver\vxworks-6.3.
  3. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  4. Checkout and install the NI-Libraries from Github: https://github.com/first/NI-Libraries.
  5. Run the following maven command: mvn clean install
  6. Success

include

  1. cd into the include directory: cd include
  2. Run the following maven command: mvn clean install
  3. Success

Azalea

Note: Windows only.

  1. Ensure that C:\WindRiver\gnu\3.4.4-vxworks-6.3\x86-win32\bin is on the system path so that ccppc and arppc can be accessed.
  2. Set the environment variable WIND_BASE to C:\WindRiver\vxworks-6.3.
  3. cd into the AthenaXX directory: cd AthenaXX
  4. cd into the Azalea directory: cd Azalea
  5. Run the following maven command: mvn clean install
  6. Success

AthenaXX

  1. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  2. Install the include target.
  3. cd into the AthenaXX directory: cd AthenaXX
  4. Run the following maven command: mvn clean install
  5. Success

AthenaXXJava

  1. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  2. Checkout and install the NI-Libraries from Github: https://github.com/first/NI-Libraries.
  3. Install the include target.
  4. cd into the AthenaXXJava directory: cd AthenaXXJava
  5. Run the following maven command: mvn clean install
  6. Success
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