mirror of
https://github.com/wpilibsuite/allwpilib
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ebd41fe0bb
The models and meshes are not included. We will need to find an alternate way to reintegrate these and use them. * Add simulation/gz_msgs back, and build with Gradle. * Add back in the frc simulation plugins for gazebo. * Add a new shared library, halsim_gazebo. This library will become the interface between the HAL sim layer and gazebo. * Preserve the first channel number used in created Encoders in the Sim MockData. This allows us to use the DIO channel number to connect with simulated encoders. * Have the HAL Simulator set the reverse direction on creation. This enables a simulator to be aware of the direction. * Add a drive_motor plugin. This is a bit of a 'magic' motor, which allows us to build robot models that drive in a more realistic fashion. It does this by apply forces directly to the chassis, rather than relying on the complex motion dynamics of a driven wheel. This in turn allows the model to reduce wheel friction, reducing scrub, and allowing for a more natural driving experience.
106 lines
2.8 KiB
Groovy
106 lines
2.8 KiB
Groovy
description = "A C++ and Java library to pass FRC Simulation Messages in and out of Gazebo."
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apply plugin: 'cpp'
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apply plugin: 'java'
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apply plugin: 'com.google.protobuf'
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apply plugin: 'edu.wpi.first.NativeUtils'
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/* The simulation does not run on real hardware; so we always skip Athena */
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ext.skipAthena = true
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repositories {
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mavenCentral()
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}
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buildscript {
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repositories {
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mavenCentral()
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}
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dependencies {
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classpath 'com.google.protobuf:protobuf-gradle-plugin:+'
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}
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}
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/* Use a sort of poor man's autoconf to find the protobuf development
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files; on Debian, those are supplied by libprotobuf-dev.
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This should get skipped on Windows.
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TODO: Add Windows support for the simulation code */
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def protobuf_version = ""
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try {
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protobuf_version = "pkg-config --modversion protobuf".execute().text.trim()
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println "Protobuf version is [${protobuf_version}]"
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} catch(Exception ex) {
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}
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if (!protobuf_version?.trim()) {
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println "Protobuf is not available. (pkg-config --modversion protobuf failed)"
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protobuf_version = "+"
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if (project.hasProperty("makeSim")) {
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/* Force the build even though we did not find protobuf. */
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println "makeSim set. Forcing build - failure likely."
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}
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else {
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ext.skip_gz_msgs = true
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println "Skipping gz_msgs."
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}
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}
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tasks.whenTaskAdded { task ->
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task.onlyIf { !project.hasProperty('skip_gz_msgs') }
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}
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dependencies {
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compile "com.google.protobuf:protobuf-java:${protobuf_version}"
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compile "com.google.protobuf:protoc:${protobuf_version}"
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}
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/* There is a nice gradle plugin for protobuf, and the protoc tool
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is included; using it simplifies our build process.
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The trick is that we have to use the same version as the system
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copy of libprotobuf-dev */
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protobuf {
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protoc {
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artifact = "com.google.protobuf:protoc:${protobuf_version}"
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}
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generatedFilesBaseDir = "$buildDir/generated"
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generateProtoTasks {
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all().each { task ->
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task.builtins {
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cpp {
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outputSubDir = 'simulation/gz_msgs'
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}
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}
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}
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}
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}
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model {
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components {
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gz_msgs(NativeLibrarySpec) {
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sources {
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cpp {
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source {
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srcDir "$buildDir/generated/main/simulation/gz_msgs"
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builtBy tasks.generateProto
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}
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exportedHeaders {
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srcDir "src/include"
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srcDir "$buildDir/generated/main"
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}
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}
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}
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/* We must compile with -fPIC to link the static library into an so */
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binaries {
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all {
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cppCompiler.args "-fPIC"
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}
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}
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}
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}
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}
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