allwpilib/wpilibj/build.gradle

apply plugin: 'java'
apply plugin: 'cpp'
apply plugin: 'maven-publish'

// We need this so we can get the networktables javadoc for the javadoc task
evaluationDependsOn(':networktables:ntcore')

def generatedJNIHeaderLoc = 'wpilibJavaJNI/build/include'

// Maven publishing configuration
publishing {
    publications {
        maven(MavenPublication) {
            artifact wpilibjJar
            artifact(wpilibjSources) {
                classifier 'sources'
            }
            artifact(wpilibjJavadoc) {
                classifier 'javadoc'
            }

            groupId 'edu.wpi.first.wpilibj'
            artifactId 'wpilibJavaFinal'
            version '0.1.0-SNAPSHOT'
        }
        mavenSim(MavenPublication) {
            artifact wpilibjSimJar
            artifact(wpilibjSimSources) {
                classifier 'sources'
            }
            artifact(wpilibjSimJavadoc) {
                classifier 'javadoc'
            }

            groupId 'edu.wpi.first.wpilibj'
            artifactId 'wpilibJavaSim'
            version '0.1.0-SNAPSHOT'
        }
    }
}

// Configuration for the HAL bindings
model {
    components {
        wpilibJavaJNI(NativeLibrarySpec) {
            targetPlatform 'arm'
            binaries.all {
                tasks.withType(CppCompile) {
                    dependsOn jniHeaders
                    dependsOn addNiLibraryLinks
                }
		linker.args '-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a,-rpath,/usr/local/frc/rpath-lib'
            }
            sources {
                cpp {
                    source {
                        srcDirs = ['wpilibJavaJNI/lib']
                        includes = ['**/*.cpp']
                    }
                    exportedHeaders {
                        // JDK is included for jni.h. We also need the arm-linux specific headers. This does not need to change
                        // when compiling on Windows
                        // The JNI headers are put into the build/include directory by the jniHeaders task on wpilibJavaDevices
                        srcDirs = ["wpilibJavaJNI/include", "wpilibJavaJNI/include/linux"]
                        jniHeaders.outputs.files.each { file ->
                            srcDirs file.getPath()
                        }
                    }
                    lib project: ':hal', library: 'HALAthena', linkage: 'static'
                }
            }
        }
    }
}

// Configuration for the Java project, which pulls sources from the wpilibJava and wpilibJavaDevices folders
sourceSets {
    // This is the sourceset for RoboRIO-specific code
    main {
        java {
            srcDirs 'wpilibJavaDevices/src/main/java'
        }
    }
    // Unit tests. These run on any platform
    test {
        java {
            srcDirs 'wpilibJava/src/test/java', 'wpilibJavaDevices/src/test/java'
        }
    }
    // This is the shared code between the RoboRIO and simulation
    shared {
        java {
            srcDirs 'wpilibJava/src/main/java'
        }
    }
    // Integration tests run on the WPI test stand
    integrationTest {
        java {
            srcDirs 'wpilibJavaIntegrationTests/src/main/java', 'wpilibJavaIntegrationTests/src/test/java'
        }
        resources {
            srcDir 'wpilibJavaIntegrationTests/src/main/resources'
        }
    }
    // The simulation specific code
    simulation {
        java {
            srcDirs 'wpilibJavaSim/src/main/java'
        }
    }
}

dependencies {
    compile sourceSets.shared.output
    compile project(':networktables:ntcore')
    testCompile 'junit:junit:4.11'
    sharedCompile project(':networktables:ntcore')
    integrationTestCompile project(':networktables:ntcore')
    integrationTestCompile 'junit:junit:4.11'
    integrationTestCompile sourceSets.main.output
    integrationTestCompile sourceSets.shared.output
    integrationTestCompile 'com.googlecode.junit-toolbox:junit-toolbox:2.0'
    integrationTestCompile 'org.apache.ant:ant:1.9.4'
    integrationTestCompile 'org.apache.ant:ant-junit:1.9.4'
    simulationCompile sourceSets.main.output
    simulationCompile sourceSets.shared.output
    simulationCompile project(':simulation:JavaGazebo')
    simulationCompile project(':networktables:ntcore')
}

task wpilibjJar(type: Jar) {
    description = 'Creates the WPILib Java jar, with the JNI shared library in the correct place'
    group = 'WPILib'
    dependsOn { wpilibJavaJNISharedLibrary }
    dependsOn { classes }
    from files(sourceSets.main.output.classesDir)
    from files(sourceSets.shared.output.classesDir)
    binaries.withType(SharedLibraryBinarySpec) {
        from(file(it.sharedLibraryFile)) {
            into 'linux-arm'
        }
    }
}

task wpilibjSources(type: Jar, dependsOn: classes) {
    description = 'Creates the sources jar for the maven publishing routine'
    group = 'WPILib'
    classifier = 'sources'
    from sourceSets.main.allJava
    from sourceSets.shared.allJava
}

task javadoc(type: Javadoc, overwrite: true) {
    def netTables = project(':networktables:ntcore')
    source sourceSets.main.allJava, sourceSets.shared.allJava, netTables.sourceSets.main.allJava
    classpath = files([sourceSets.main.compileClasspath, sourceSets.shared.compileClasspath, netTables.sourceSets.main.compileClasspath])
}

task wpilibjJavadoc(type: Jar, dependsOn: javadoc) {
    description = 'Creates the javadoc jar for the maven publishing routine'
    group = 'WPILib'
    classifier = 'javadoc'
    from javadoc.destinationDir
}

task wpilibjSimJar(type: Jar, dependsOn: simulationClasses) {
    description = 'Creates the WPILibJSimulation Jar'
    group = 'WPILib'
    from sourceSets.simulation.output.classesDir
    from sourceSets.shared.output.classesDir
    baseName 'wpilibjSimulation'
}

task wpilibjSimSources(type: Jar, dependsOn: simulationClasses) {
    description = 'Creates the wpilibjSimulation sources jar for the maven publishing routine'
    group = 'WPILib'
    classifier = 'sources'
    from sourceSets.simulation.allJava
    from sourceSets.shared.allJava
}

task simulationJavadoc(type: Javadoc) {
    description = 'Generates javadoc for the simulation components'
    group = 'WPILib'
    source sourceSets.simulation.allJava, sourceSets.shared.allJava
    classpath = files([sourceSets.simulation.compileClasspath, sourceSets.shared.compileClasspath])
}

task wpilibjSimJavadoc(type: Jar, dependsOn: simulationJavadoc) {
    description = 'Creates the wpilibjSimulation javadoc jar for the maven publishing routine'
    group = 'WPILib'
    classifier = 'javadoc'
    from simulationJavadoc.destinationDir
}

task wpilibjIntegrationTestJar(type: Jar) {
    description = 'Creates the wpilib integration tests jar'
    group = 'WPILib'
    dependsOn { wpilibJavaJNISharedLibrary }
    dependsOn { wpilibjJar }
    dependsOn { integrationTestClasses }
    from sourceSets.integrationTest.output.classesDir
    // Get all dependencies needed for running the jar
    configurations.integrationTestCompile.filter { it.getPath().endsWith('.jar') }.each {
        if (!it.isDirectory()) {
            from zipTree(it)
        }
    }
    wpilibjJar.outputs.files.each { from zipTree(it) }
    manifest {
        attributes 'Main-Class': 'edu.wpi.first.wpilibj.test.AntJunitLanucher'
    }
    baseName = 'wpilibJavaIntegrationTests'
    version = '0.1.0-SNAPSHOT'
}

/**
 * Generates the JNI headers from the HAL package
 */
task jniHeaders {
    description = 'Generates JNI headers from edu.wpi.first.wpilibj.hal.*'
    group = 'WPILib'
    def outputFolder = file(generatedJNIHeaderLoc)
    inputs.files sourceSets.main.output
    outputs.file outputFolder
    doLast {
        outputFolder.mkdirs()
        exec {
            executable org.gradle.internal.jvm.Jvm.current().getExecutable('javah')
            args '-d', outputFolder
            args '-classpath', sourceSets.main.output.classesDir
            args 'edu.wpi.first.wpilibj.can.CANJNI'
            args 'edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary'
            args 'edu.wpi.first.wpilibj.hal.HALUtil'
            args 'edu.wpi.first.wpilibj.hal.JNIWrapper'
            args 'edu.wpi.first.wpilibj.hal.AccelerometerJNI'
            args 'edu.wpi.first.wpilibj.hal.AnalogJNI'
            args 'edu.wpi.first.wpilibj.hal.CounterJNI'
            args 'edu.wpi.first.wpilibj.hal.DIOJNI'
            args 'edu.wpi.first.wpilibj.hal.EncoderJNI'
            args 'edu.wpi.first.wpilibj.hal.I2CJNI'
            args 'edu.wpi.first.wpilibj.hal.InterruptJNI'
            args 'edu.wpi.first.wpilibj.hal.NotifierJNI'
            args 'edu.wpi.first.wpilibj.hal.PWMJNI'
            args 'edu.wpi.first.wpilibj.hal.RelayJNI'
            args 'edu.wpi.first.wpilibj.hal.SPIJNI'
            args 'edu.wpi.first.wpilibj.hal.SolenoidJNI'
            args 'edu.wpi.first.wpilibj.hal.CompressorJNI'
            args 'edu.wpi.first.wpilibj.hal.PDPJNI'
            args 'edu.wpi.first.wpilibj.hal.PowerJNI'
            args 'edu.wpi.first.wpilibj.hal.SerialPortJNI'
        }
    }
}

clean {
    delete generatedJNIHeaderLoc
}