mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
dacded37e5
User code: - OpModeRobot used as the robot base class - LinearOpMode and PeriodicOpMode are provided opmode base classes - In Java, annotations can be used to automatically register opmode classes Additional user code functionality: - OpMode (string) is available in addition to the overall auto/teleop/test robot mode - OpMode does not indicate enable (enable/disable is still separate) - The HAL API uses integer UIDs; these are exposed at the user API level as well for faster checks - User code creates opmodes on startup (these have name, category, description, etc). DS: - DS will present opmode selection lists for auto and teleop for match/practice. During a match, the DS will automatically activate the selected opmode in the corresponding match period. - For testing, an overall mode is selected (e.g. teleop/auto/test) and a single opmode is selected Future work: - Command framework support/integration - Python annotation support - Unit tests (needs race-free DS sim updates) - Porting of examples Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
53 lines
2.0 KiB
Groovy
53 lines
2.0 KiB
Groovy
if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxsystemcore')) {
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return;
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}
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description = "A plugin that creates a simulation gui"
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ext {
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pluginName = 'halsim_gui'
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}
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apply plugin: 'google-test-test-suite'
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ext {
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staticGtestConfigs = [:]
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}
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staticGtestConfigs["${pluginName}Test"] = []
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apply from: "${rootDir}/shared/googletest.gradle"
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apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
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model {
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binaries {
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all {
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lib project: ':glass', library: 'glassnt', linkage: 'static'
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lib project: ':glass', library: 'glass', linkage: 'static'
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lib project: ':wpigui', library: 'wpigui', linkage: 'static'
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lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
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project(':hal').addHalDependency(it, 'shared')
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project(':ntcore').addNtcoreDependency(it, 'shared')
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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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lib project: ':fields', library: 'fields', linkage: 'static'
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lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
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if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
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it.buildable = false
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return
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}
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if (it.targetPlatform.operatingSystem.isWindows()) {
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it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
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} else if (it.targetPlatform.operatingSystem.isMacOsX()) {
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it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
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} else {
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it.linker.args << '-lX11'
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if (it.targetPlatform.name.startsWith('linuxarm')) {
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it.linker.args << '-lGL'
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}
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}
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}
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}
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}
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