allwpilib/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml

<?xml version="1.0" encoding="UTF-8"?>

<project name="athena-project-build" default="deploy">

  <!-- Load Tasks -->
  <taskdef resource="net/sf/antcontrib/antlib.xml">
    <classpath>
      <pathelement location="${wpilib.ant.dir}/ant-contrib.jar"/>
    </classpath>
  </taskdef>
  <taskdef resource="net/jtools/classloadertask/antlib.xml" classpath="${classloadertask.jar}"/>
  <classloader loader="system" classpath="${jsch.jar}"/>

  <target name="clean" description="Clean up all build and distribution artifacts.">
    <delete dir="${build.dir}"/>
    <delete dir="${dist.dir}"/>
  </target>

  <!-- Targets -->

  <target name="get-target-ip">
    <property name="target" value="roboRIO-${team-number}.local" />
     <echo>Target: ${target}</echo>
  </target>

  <target name="compile" description="Compile the source code.">
    <mkdir dir="${build.dir}"/>
    <echo>[athena-compile] Compiling ${src.dir} with classpath=${classpath} to ${build.dir}</echo>

    <javac srcdir="${src.dir}"
     destdir="${build.dir}"
     includeAntRuntime="no"
     includeJavaRuntime="no"
     classpath="${classpath}"
     target="${ant.java.version}"
     source="${ant.java.version}"
     compiler="javac${ant.java.version}"
     debug="true">
    </javac>
  </target>

  <target name="jar" depends="compile">
    <echo>[athena-jar] Making jar ${dist.jar}.</echo>
    <mkdir dir="${dist.dir}" />
    <mkdir dir="${build.jars}" />

  <echo>[athena-jar] Copying jars from ${classpath} to ${build.jars}.</echo>
  <copy todir="${build.jars}" flatten="true">
    <path>
    <pathelement path="${classpath}"/>
    </path>
  </copy>

    <jar destfile="${dist.jar}" update="false">
      <manifest>
    	<attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
    	<attribute name="Robot-Class" value="${robot.class}"/>
    	<attribute name="Class-Path" value="."/>
      </manifest>

      <fileset dir="${build.dir}" includes="**/*.class"/>

    <zipgroupfileset dir="${build.jars}">
      <include name="**/*.jar" />
    </zipgroupfileset>
    </jar>
  </target>

    <!-- We're running a clean here to get around a known ant issue where it does not detected changed constant variables.
     To get around this, we're recompiling the entire project, which is not an issue for most teams. If this is an issue
     for you, you can remove the clean here, just be sure to do a full rebuild after you've changed any constants.
     Reference: http://stackoverflow.com/questions/6430001/ant-doesnt-recompile-constants -->
  <target name="deploy" depends="get-target-ip,clean,jar" description="Deploy the jar and start the program running.">
    <echo>[athena-deploy] Copying code over.</echo>
    <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
    <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>

    <echo>[athena-deploy] Starting program.</echo>
    <sshexec host="${target}"
       username="${username}"
       password="${password}"
       trust="true"
       command="${deploy.kill.command};"/>

    <sshexec host="${target}"
       username="${username}"
       password="${password}"
       trust="true"
       command="${deploy.log.command}"/>
  </target>

  <target name="debug-deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">
    <echo>[athena-deploy] Copying code over.</echo>
    <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
  	<!-- The remoteDebugCommand file is used by /usr/local/frc/bin/frcRunRobot.sh on the roboRIO  -->
    <scp file="${wpilib.ant.dir}/robotDebugCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
  	<!-- The frcdebug file is used as a flag for /usr/local/frc/bin/frcRunRobot.sh to run the robot program in debug mode -->
  	<scp file="${wpilib.ant.dir}/frcdebug" todir="${username}@${target}:${debug.flag.dir}" password="${password}" trust="true"/>
	<sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
        command="${debug.flag.command}"/>

    <echo>[athena-deploy] Starting Debug program.</echo>
    <sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
        command="${deploy.kill.command}"/>

    <sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
        command="${deploy.log.command}"/>
  </target>

  <!-- Simulate -->
  <target name="jar-for-simulation" depends="compile">
	<echo>[jar-for-simulation] Building jar.</echo>

	<jar destfile="${simulation.dist.jar}">
	  <manifest>
		<attribute name="Built-By" value="${user.name}"/>
		<attribute name="Robot-Class" value="${robot.class}"/>
		<attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
	  </manifest>
	  <fileset dir="${build.dir}" />
	  <zipgroupfileset dir="${wpilib.sim.lib}">
	  	<include name="**/*.jar" />
	  </zipgroupfileset>
	</jar>
  </target>

  <target name="simulate" depends="jar-for-simulation">
    <parallel>
      <sequential>
	    <echo>[simulate] Running Gazebo.</echo>
	    <exec executable="frcsim">
	      <arg value="${simulation.world.file}"/>
	    </exec>
      </sequential>
      <sequential>
        <sleep seconds="5"/>
	    <echo>[simulate] Running DriverStation.</echo>
	    <java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
          <jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
        </java>
      </sequential>
      <sequential>
        <sleep seconds="5"/>
	    <echo>[simulate] Running Code.</echo>
	    <java jar="${simulation.dist.jar}" fork="true">
          <jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
        </java>
      </sequential>
    </parallel>
  </target>

  <target name="debug-simulate" depends="jar-for-simulation">
    <parallel>
      <sequential>
	    <echo>[debug-simulate] Running Gazebo.</echo>
	    <exec executable="frcsim">
	      <arg value="${simulation.world.file}"/>
	    </exec>
      </sequential>
      <sequential>
        <sleep seconds="5"/>
	    <echo>[debug-simulate] Running DriverStation.</echo>
	    <java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
          <jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
        </java>
      </sequential>
      <sequential>
        <sleep seconds="5"/>
	    <echo>[debug-simulate] Running Code.</echo>
	    <java jar="${simulation.dist.jar}" fork="true">
          <jvmarg value="-Xdebug" />
          <jvmarg value="-Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8348" />
          <jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
        </java>
      </sequential>
    </parallel>
  </target>
</project>