mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
a9b885070e
Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>. Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC). This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
276 lines
8.9 KiB
Groovy
276 lines
8.9 KiB
Groovy
plugins {
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id 'java'
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id "org.ysb33r.doxygen" version "1.0.3"
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}
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evaluationDependsOn(':apriltag')
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evaluationDependsOn(':cameraserver')
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evaluationDependsOn(':cscore')
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evaluationDependsOn(':epilogue-runtime')
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evaluationDependsOn(':hal')
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evaluationDependsOn(':ntcore')
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evaluationDependsOn(':wpilibNewCommands')
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evaluationDependsOn(':wpilibc')
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evaluationDependsOn(':wpilibj')
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evaluationDependsOn(':wpimath')
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evaluationDependsOn(':wpinet')
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evaluationDependsOn(':wpiunits')
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evaluationDependsOn(':wpiutil')
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def baseArtifactIdCpp = 'documentation'
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def artifactGroupIdCpp = 'edu.wpi.first.wpilibc'
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def zipBaseNameCpp = '_GROUP_edu_wpi_first_wpilibc_ID_documentation_CLS'
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def baseArtifactIdJava = 'documentation'
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def artifactGroupIdJava = 'edu.wpi.first.wpilibj'
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def zipBaseNameJava = '_GROUP_edu_wpi_first_wpilibj_ID_documentation_CLS'
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def outputsFolder = file("$project.buildDir/outputs")
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def cppProjectZips = []
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def cppIncludeRoots = []
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cppProjectZips.add(project(':apriltag').cppHeadersZip)
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cppProjectZips.add(project(':cameraserver').cppHeadersZip)
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cppProjectZips.add(project(':cscore').cppHeadersZip)
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cppProjectZips.add(project(':hal').cppHeadersZip)
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cppProjectZips.add(project(':ntcore').cppHeadersZip)
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cppProjectZips.add(project(':wpilibNewCommands').cppHeadersZip)
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cppProjectZips.add(project(':wpilibc').cppHeadersZip)
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cppProjectZips.add(project(':wpimath').cppHeadersZip)
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cppProjectZips.add(project(':wpinet').cppHeadersZip)
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cppProjectZips.add(project(':wpiutil').cppHeadersZip)
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doxygen {
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// Doxygen binaries are only provided for x86_64 platforms
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// Other platforms will need to provide doxygen via their system
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// See below maven and https://doxygen.nl/download.html for provided binaries
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// Ensure theme.css (from https://github.com/jothepro/doxygen-awesome-css) is compatible with
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// doxygen version when updating
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String arch = System.getProperty("os.arch");
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if (arch.equals("x86_64") || arch.equals("amd64")) {
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executables {
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doxygen {
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executableByVersion('1.12.0')
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}
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}
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}
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}
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doxygen {
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template 'Doxyfile'
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cppProjectZips.each {
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dependsOn it
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source it.source
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it.ext.includeDirs.each {
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cppIncludeRoots.add(it.absolutePath)
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}
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}
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if (project.hasProperty('docWarningsAsErrors')) {
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// apriltag
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exclude 'apriltag_pose.h'
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// Eigen
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exclude 'Eigen/**'
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exclude 'unsupported/**'
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// LLVM
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exclude 'wpi/AlignOf.h'
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exclude 'wpi/Casting.h'
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exclude 'wpi/Chrono.h'
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exclude 'wpi/Compiler.h'
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exclude 'wpi/ConvertUTF.h'
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exclude 'wpi/DenseMap.h'
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exclude 'wpi/DenseMapInfo.h'
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exclude 'wpi/Endian.h'
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exclude 'wpi/EpochTracker.h'
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exclude 'wpi/Errc.h'
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exclude 'wpi/Errno.h'
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exclude 'wpi/ErrorHandling.h'
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exclude 'wpi/bit.h'
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exclude 'wpi/fs.h'
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exclude 'wpi/FunctionExtras.h'
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exclude 'wpi/function_ref.h'
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exclude 'wpi/Hashing.h'
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exclude 'wpi/iterator.h'
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exclude 'wpi/iterator_range.h'
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exclude 'wpi/ManagedStatic.h'
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exclude 'wpi/MapVector.h'
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exclude 'wpi/MathExtras.h'
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exclude 'wpi/MemAlloc.h'
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exclude 'wpi/PointerIntPair.h'
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exclude 'wpi/PointerLikeTypeTraits.h'
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exclude 'wpi/PointerUnion.h'
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exclude 'wpi/raw_os_ostream.h'
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exclude 'wpi/raw_ostream.h'
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exclude 'wpi/SmallPtrSet.h'
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exclude 'wpi/SmallSet.h'
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exclude 'wpi/SmallString.h'
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exclude 'wpi/SmallVector.h'
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exclude 'wpi/StringExtras.h'
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exclude 'wpi/StringMap.h'
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exclude 'wpi/SwapByteOrder.h'
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exclude 'wpi/type_traits.h'
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exclude 'wpi/VersionTuple.h'
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exclude 'wpi/WindowsError.h'
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// fmtlib
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exclude 'fmt/**'
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// libuv
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exclude 'uv.h'
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exclude 'uv/**'
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exclude 'wpinet/uv/**'
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// json
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exclude 'wpi/adl_serializer.h'
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exclude 'wpi/byte_container_with_subtype.h'
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exclude 'wpi/detail/**'
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exclude 'wpi/json.h'
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exclude 'wpi/json_fwd.h'
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exclude 'wpi/ordered_map.h'
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exclude 'wpi/thirdparty/**'
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// memory
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exclude 'wpi/memory/**'
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// mpack
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exclude 'wpi/mpack.h'
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// units
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exclude 'units/**'
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}
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exclude '*.pb.h'
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// Save space by excluding protobuf and eigen
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exclude 'Eigen/**'
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exclude 'google/protobuf/**'
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exclude '**/.clang-tidy'
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exclude '**/.clang-format'
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option 'project_name', 'WPILibC++'
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option 'project_logo', '../wpiutil/src/main/native/resources/wpilib-128.png'
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option 'project_number', wpilibVersioning.version.get()
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option 'strip_from_inc_path', cppIncludeRoots
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option 'strip_from_path', cppIncludeRoots
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if (project.hasProperty('docWarningsAsErrors')) {
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option 'warn_as_error', 'FAIL_ON_WARNINGS_PRINT'
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}
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}
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tasks.register("zipCppDocs", Zip) {
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archiveBaseName = zipBaseNameCpp
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destinationDirectory = outputsFolder
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dependsOn doxygen
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from ("$buildDir/docs/doxygen/html")
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into '/'
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}
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// Java
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configurations {
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javaSource {
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transitive false
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}
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}
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task generateJavaDocs(type: Javadoc) {
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classpath += project(":wpilibj").sourceSets.main.compileClasspath
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options.links("https://docs.oracle.com/en/java/javase/17/docs/api/")
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options.links("https://docs.opencv.org/4.x/javadoc/")
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options.addStringOption("tag", "pre:a:Pre-Condition")
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options.addBooleanOption("Xdoclint/package:" +
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// TODO: v Document these, then remove them from the list
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"-edu.wpi.first.hal," +
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"-edu.wpi.first.hal.simulation," +
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// TODO: ^ Document these, then remove them from the list
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"-edu.wpi.first.math.proto," +
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"-edu.wpi.first.math.struct," +
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"-edu.wpi.first.math.controller.proto," +
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"-edu.wpi.first.math.controller.struct," +
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"-edu.wpi.first.math.geometry.proto," +
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"-edu.wpi.first.math.geometry.struct," +
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"-edu.wpi.first.math.kinematics.proto," +
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"-edu.wpi.first.math.kinematics.struct," +
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"-edu.wpi.first.math.spline.proto," +
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"-edu.wpi.first.math.spline.struct," +
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"-edu.wpi.first.math.system.proto," +
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"-edu.wpi.first.math.system.struct," +
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"-edu.wpi.first.math.system.plant.proto," +
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"-edu.wpi.first.math.system.plant.struct," +
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"-edu.wpi.first.math.trajectory.proto," +
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// The .measure package contains generated source files for which automatic javadoc
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// generation is very difficult to do meaningfully.
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"-edu.wpi.first.units.measure", true)
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options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
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options.addBooleanOption('html5', true)
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options.linkSource(true)
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dependsOn project(':wpilibj').generateJavaVersion
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source project(':apriltag').sourceSets.main.java
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source project(':cameraserver').sourceSets.main.java
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source project(':cscore').sourceSets.main.java
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source project(':epilogue-runtime').sourceSets.main.java
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source project(':hal').sourceSets.main.java
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source project(':ntcore').sourceSets.main.java
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source project(':wpilibNewCommands').sourceSets.main.java
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source project(':wpilibj').sourceSets.main.java
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source project(':wpimath').sourceSets.main.java
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source project(':wpinet').sourceSets.main.java
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source project(':wpiunits').sourceSets.main.java
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source project(':wpiutil').sourceSets.main.java
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source configurations.javaSource.collect { zipTree(it) }
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include '**/*.java'
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failOnError = true
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title = "WPILib API ${wpilibVersioning.version.get()}"
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ext.entryPoint = "$destinationDir/index.html"
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if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
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// Treat javadoc warnings as errors.
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//
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// The second argument '-quiet' is a hack. The one parameter
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// addStringOption() doesn't work, so we add '-quiet', which is added
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// anyway by gradle. See https://github.com/gradle/gradle/issues/2354.
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options.addStringOption('Werror', '-quiet')
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}
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}
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tasks.register("zipJavaDocs", Zip) {
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archiveBaseName = zipBaseNameJava
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destinationDirectory = outputsFolder
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dependsOn generateJavaDocs
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from ("$buildDir/docs/javadoc")
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into '/'
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}
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tasks.register("zipDocs") {
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dependsOn zipCppDocs
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dependsOn zipJavaDocs
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}
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apply plugin: 'maven-publish'
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publishing {
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publications {
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java(MavenPublication) {
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artifact zipJavaDocs
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artifactId = "${baseArtifactIdJava}"
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groupId artifactGroupIdJava
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version wpilibVersioning.version.get()
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}
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cpp(MavenPublication) {
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artifact zipCppDocs
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artifactId = "${baseArtifactIdCpp}"
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groupId artifactGroupIdCpp
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version wpilibVersioning.version.get()
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}
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}
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}
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