mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
ffd371cbf8
The `command3` example project contains a program that could plausibly play in the 2026 rebuilt game. It includes nested mechanisms (`Intake` has an inner `IntakeWrist` and `IntakeRoller` and is similar to the v2 superstructure concept), swerve drive with localization and path following (albeit stubbed for sake of example), opmodes and opmode-scoped commands, and command-scoped triggers. The template projects are basic skeletons. The larger template includes a basic command that just increments and prints a counter variable every time it runs. The hatchbot v3 example has been refactored to be more idiomatic: - `RobotContainer` removed - "Subsystem" names in packages, comments, and classes has been replaced with "Mechanism" - Some v2-specific comments and structures have been reworded or deleted - The Drive mechanism now provides commands for arcade drive and driving a distance, instead of exposing public methods that write directly to hardware (which broke encapsulation and made it possible to issue conflicting hardware requests)
175 lines
6.3 KiB
Python
175 lines
6.3 KiB
Python
load("@rules_java//java:defs.bzl", "java_binary", "java_library")
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load("@rules_pkg//:mappings.bzl", "pkg_files")
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load("@rules_pkg//:pkg.bzl", "pkg_zip")
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load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
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load("//wpilibjExamples:example_projects.bzl", "COMMANDS_V2_FOLDERS", "EXAMPLE_FOLDERS", "EXAMPLE_TESTS_FOLDERS", "SNIPPET_FOLDERS", "SNIPPET_TESTS_FOLDERS", "TEMPLATE_FOLDERS")
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def _package_type(package_type):
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pkg_files(
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name = package_type + "-pkg",
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srcs = native.glob(["src/main/java/org/wpilib/" + package_type + "/**"]),
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strip_prefix = "src/main/java/org/wpilib",
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)
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pkgs = ["//:license_pkg_files", ":" + package_type + "-pkg"]
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if package_type == "examples":
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pkg_files(
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name = package_type + "-tests-pkg",
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srcs = native.glob(["src/test/java/org/wpilib/" + package_type + "/**"]),
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strip_prefix = "src/test/java/org/wpilib/" + package_type,
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prefix = "examples_test",
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)
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pkgs.append(package_type + "-tests-pkg")
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pkg_zip(
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name = package_type + "-zip",
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srcs = pkgs,
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tags = ["manual"],
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)
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def build_examples(halsim_deps):
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_package_type("examples")
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for folder in EXAMPLE_FOLDERS:
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java_binary(
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name = folder + "-example",
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srcs = native.glob(["src/main/java/org/wpilib/examples/" + folder + "/**/*.java"]),
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main_class = "org/wpilib/examples/" + folder + "/Main",
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plugins = [
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"//epilogue-processor:plugin",
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],
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deps = [
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"//apriltag:apriltag-java",
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"//cameraserver:cameraserver-java",
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"//cscore:cscore-java",
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"//hal:hal-java",
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"//ntcore:ntcore-java",
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"//wpimath:wpimath-java",
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"//wpilibj:wpilibj-java",
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"//commandsv2:commandsv2-java",
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"//commandsv3:commandsv3-java",
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"//wpiutil:wpiutil-java",
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"//romiVendordep:romiVendordep-java",
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"//xrpVendordep:xrpVendordep-java",
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"//wpiunits:wpiunits-java",
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"//epilogue-runtime:epilogue-java",
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"@bzlmodrio-opencv//libraries/java/opencv",
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],
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tags = ["wpi-example"],
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)
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def build_commands():
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_package_type("commands")
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for folder in COMMANDS_V2_FOLDERS:
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java_library(
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name = folder + "-command",
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srcs = native.glob(["src/main/java/org/wpilib/commands/" + folder + "/**/*.java"]),
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deps = [
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"//hal:hal-java",
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"//wpilibj:wpilibj-java",
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"//commandsv2:commandsv2-java",
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"//wpimath:wpimath-java",
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],
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tags = ["wpi-example"],
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)
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def build_snippets():
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_package_type("snippets")
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for folder in SNIPPET_FOLDERS:
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java_library(
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name = folder + "-snippet",
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srcs = native.glob(["src/main/java/org/wpilib/snippets/" + folder + "/**/*.java"]),
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plugins = [
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"//epilogue-processor:plugin",
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],
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deps = [
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"//apriltag:apriltag-java",
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"//cameraserver:cameraserver-java",
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"//cscore:cscore-java",
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"//hal:hal-java",
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"//ntcore:ntcore-java",
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"//wpimath:wpimath-java",
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"//wpilibj:wpilibj-java",
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"//commandsv2:commandsv2-java",
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"//commandsv3:commandsv3-java",
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"//wpiutil:wpiutil-java",
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"//romiVendordep:romiVendordep-java",
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"//xrpVendordep:xrpVendordep-java",
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"//wpiunits:wpiunits-java",
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"//epilogue-runtime:epilogue-java",
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"@bzlmodrio-opencv//libraries/java/opencv",
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],
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tags = ["wpi-example"],
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)
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def build_templates():
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_package_type("templates")
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for folder in TEMPLATE_FOLDERS:
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java_library(
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name = folder + "-template",
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srcs = native.glob(["src/main/java/org/wpilib/templates/" + folder + "/**/*.java"]),
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plugins = [
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"//epilogue-processor:plugin",
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],
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deps = [
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"//hal:hal-java",
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"//wpilibj:wpilibj-java",
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"//commandsv2:commandsv2-java",
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"//commandsv3:commandsv3-java",
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"//wpimath:wpimath-java",
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"//wpiutil:wpiutil-java",
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"//epilogue-runtime:epilogue-java",
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"//xrpVendordep:xrpVendordep-java",
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"//wpiunits:wpiunits-java",
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],
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tags = ["wpi-example"],
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)
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def build_tests():
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for folder in EXAMPLE_TESTS_FOLDERS:
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wpilib_java_junit5_test(
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name = folder + "-test",
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srcs = native.glob(["src/test/java/org/wpilib/examples/" + folder + "/**/*.java"]),
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plugins = [
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"//epilogue-processor:plugin",
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],
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deps = [
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":" + folder + "-example",
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"//hal:hal-java",
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"//ntcore:ntcore-java",
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"//wpilibj:wpilibj-java",
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"//commandsv2:commandsv2-java",
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"//commandsv3:commandsv3-java",
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"//wpimath:wpimath-java",
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"//wpiutil:wpiutil-java",
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"//epilogue-runtime:epilogue-java",
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"//wpiunits:wpiunits-java",
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],
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tags = ["wpi-example"],
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)
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for folder in SNIPPET_TESTS_FOLDERS:
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wpilib_java_junit5_test(
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name = folder + "-test",
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srcs = native.glob(["src/test/java/org/wpilib/snippets/" + folder + "/**/*.java"]),
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plugins = [
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"//epilogue-processor:plugin",
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],
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deps = [
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":" + folder + "-snippet",
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"//hal:hal-java",
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"//ntcore:ntcore-java",
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"//wpilibj:wpilibj-java",
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"//commandsv2:commandsv2-java",
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"//commandsv3:commandsv3-java",
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"//wpimath:wpimath-java",
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"//wpiutil:wpiutil-java",
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"//epilogue-runtime:epilogue-java",
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"//wpiunits:wpiunits-java",
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],
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tags = ["wpi-example"],
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)
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