Merge pull request #53 from frc5024/bundlejars

Author: ewpratten

README.md

@@ -6,7 +6,7 @@ The software libraries that power all Raider Robotics projects.
 
 ## Using
 
-The simplest way to use lib5k is to import the entire library (warning: this is quite big). This can be done by grabbing the latest `lib5k-bundle-<version>-monolithic.jar` file from the [releases page](https://github.com/frc5024/lib5k/releases/latest), and adding it to your project (here is a [tutorial](https://medium.com/@petehouston/compile-local-jar-files-with-gradle-a078e5c7a520)).
+The simplest way to use lib5k is to import the entire library (warning: this is quite big). This can be done by grabbing the latest `lib5k-<version>-all.jar` file from the [releases page](https://github.com/frc5024/lib5k/releases/latest), and adding it to your project (here is a [tutorial](https://medium.com/@petehouston/compile-local-jar-files-with-gradle-a078e5c7a520)).
 
 If you would like to pick and choose which components you want, reference the chart below, and only add the jars you want.
 
@@ -67,7 +67,7 @@ Any folder containing a `build.gradle` file can be a module. Make sure to add th
 
 To build a new release, first update the version number at the top of `build.gradle`.
 
-Next, run `./gradlew clean build buildRelease`. This will build all modules individually, then also build a packaged jar with everything in it. All files will be exported to the `_release` folder. Team members with permission to publish releases can then create a new GitHub release [here](https://github.com/frc5024/lib5k/releases/new).
+Next, run `./gradlew clean buildRelease`. This will build all modules individually, then also build a packaged jar with everything in it. All files will be exported to the `_release` folder. Team members with permission to publish releases can then create a new GitHub release [here](https://github.com/frc5024/lib5k/releases/new).
 
 Otherwise, you can just use these files, and follow [the instructions above](#using).
 

autonomous/src/main/java/io/github/frc5024/lib5k/autonomous/RobotProgram.java

@@ -1,5 +1,6 @@
 package io.github.frc5024.lib5k.autonomous;
 
+import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -9,6 +10,7 @@
 
 import io.github.frc5024.lib5k.logging.RobotLogger;
 import io.github.frc5024.lib5k.hardware.ni.roborio.FaultReporter;
+import io.github.frc5024.lib5k.hardware.ni.roborio.fpga.RR_HAL;
 
 /**
  * RobotProgram is the base class for all robot programs.
@@ -67,17 +69,33 @@ public RobotProgram(boolean runSchedulerInTestMode, boolean stopAutonomousInTele
         this.stopAutonomousInTeleop = stopAutonomousInTeleop;
         this.dashboard = primaryDashboard;
 
-        // Send chooser to dashboard
+        // Create a chooser
         chooser = new SendableChooser<>();
-        dashboard.add(chooser);
 
         // Start logger
         logger.start(0.02);
 
-        // Start a fault reporter
+        // Report language
+        RR_HAL.reportFRCVersion("Java", RR_HAL.getLibraryVersion());
 
     }
 
+    /**
+     * For publishing the chooser (this can be overridden for custom dashboards)
+     * 
+     * @param component Chooser component
+     */
+    public void publishChooser(Sendable component) {
+        dashboard.add(component);
+    }
+
+    /**
+     * This is run all the time
+     * 
+     * @param init Did the robot just start?
+     */
+    public abstract void periodic(boolean init);
+
     /**
      * This is run during autonomous
      * 
@@ -106,6 +124,24 @@ public RobotProgram(boolean runSchedulerInTestMode, boolean stopAutonomousInTele
      */
     public abstract void test(boolean init);
 
+    @Override
+    public void robotInit() {
+
+        // Publish the chooser
+        publishChooser(chooser);
+
+        // Call robot
+        periodic(true);
+
+    }
+
+    @Override
+    public void robotPeriodic() {
+
+        // Call robot
+        periodic(false);
+    }
+
     /**
      * Set the default autonomous sequence
      * 
@@ -134,6 +170,16 @@ public void addAutonomous(AutonomousSequence sequence) {
         chooser.addOption(sequence.getName(), sequence);
     }
 
+    /**
+     * Get the selected autonomous. If this is not called in autonomous(), it will
+     * return the default
+     * 
+     * @return Selected autonomous sequence
+     */
+    public AutonomousSequence getSelectedAutonomous() {
+        return autonomous;
+    }
+
     @Override
     public void autonomousInit() {
         logger.log("Autonomous started");

build.gradle

@@ -1,133 +1,200 @@
-/*
- * This file was generated by the Gradle 'init' task.
- *
- * This is a general purpose Gradle build.
- * Learn how to create Gradle builds at https://guides.gradle.org/creating-new-gradle-builds/
- */
-
-
+// This is the main build script. This mostly contains the gradle tasks for building the library JAR files and documentation
 
+// This injects the gradlerio version info into all projects
 buildscript {
     repositories { 
       jcenter() 
       maven { url "https://plugins.gradle.org/m2/" }
     }
 
     dependencies {
-        classpath 'com.netflix.nebula:gradle-aggregate-javadocs-plugin:2.2.+'
-        classpath "edu.wpi.first:GradleRIO:2020.+"
+      // Update this version number to update GradleRIO
+      classpath "edu.wpi.first:GradleRIO:2020.+"
     }
 }
 
+// All plugins used by the buildscript
 plugins {
   id "com.gradle.build-scan" version "3.3.4"
+  id "java-library"
 }
 
-apply plugin: 'nebula-aggregate-javadocs'
-apply plugin: "java-library"
+// Load project dependancy configurations
+apply from: "gradle_utils/libversions.gradle"
+apply from: "gradle_utils/mavenrepos.gradle"
 
 // LIB VERSION
 project.version = "1.2.1"
 
+// Enable Java support for all projects
 allprojects{
   apply plugin: "java"
 } 
 
+// This enables some fancy gradle enterprise features for us
 gradleEnterprise {
     buildScan {
         termsOfServiceUrl = 'https://gradle.com/terms-of-service'
         termsOfServiceAgree = 'yes'
     }
 }
 
+// This will automatically pull in everything that isnt the "examples" project
+dependencies{
+  rootProject.subprojects.each{
+    if ( it.name != "examples"){
+      api it
+    }
+  }
+}
 
-// task document {
-//     dependsOn "aggregateJavadocs"
-//     doLast {
-//         file("$rootProject.buildDir/docs/javadoc").renameTo(file("docs"))
-//     }
-// }
+// This task takes every subproject's Javadoc, and merges it into one
+task combineJavadoc(type: Javadoc, description: 'Generate javadocs from all child projects as if it was a single project', group: 'Documentation') {
 
-task document(type: Javadoc, description: 'Generate javadocs from all child projects as if it was a single project', group: 'Documentation') {
+  // Set the jars to be generated into the build directory
 	destinationDir = file("$buildDir/docs/javadoc")
+
+  // Set the JavaDoc webpage title
 	title = "$project.name $version API"
+
+  // Set the custom CSS file containing our logo and theme
   options.setStylesheetFile(file("javadoc.css"))
+
+  // These fix a JavaDoc bug
   options.addBooleanOption('-no-module-directories', true)
 	options.author true
+
+  // If you add a new dependancy to the project, add its javadoc URL to this list
 	options.links 'http://docs.spring.io/spring/docs/4.3.x/javadoc-api/', 'http://docs.oracle.com/javase/8/docs/api/', 'http://docs.spring.io/spring-ws/docs/2.3.0.RELEASE/api/', 'http://docs.spring.io/spring-security/site/docs/4.0.4.RELEASE/apidocs/', 'https://first.wpi.edu/FRC/roborio/release/docs/java/', 'https://www.revrobotics.com/content/sw/max/sw-docs/java/', 'https://www.kauailabs.com/public_files/navx-mxp/apidocs/java/', 'https://knowm.org/javadocs/xchart/'
-	options.addStringOption 'Xdoclint:none', '-quiet'
-    println "Building recursive JavaDoc"
+	
+  // Any JavaDoc options should go here
+  options.addStringOption 'Xdoclint:none', '-quiet'
 
-    // source subprojects.collect { proj -> proj.sourceSets.main.allJava }  
+  // Load the configuraation from every subproject
 	subprojects.each { proj ->
 
+    // Don't document the "examples" project
     if (proj.name != "examples"){
-      println 'Adding ' + proj.projectDir + "/src/main/java"
+
+      // Read form every JavaDoc task in the subproject
       proj.tasks.withType(Javadoc).each { javadocTask ->
-        println 'Found JavaDoc task'
+      
+        // Add the task sources to the main JavaDoc
         source += javadocTask.source
         classpath += javadocTask.classpath
         excludes += javadocTask.excludes
         includes += javadocTask.includes
+
 		  }
+
     }
+
 	}
 
-    doLast {
-		println "Copying javadoc to docs folder"
-		delete "docs"
-        file("$rootProject.buildDir/docs/javadoc").renameTo(file("docs"))
-    }
+} 
+
+// This task is used to make the "clean" task clean out the docs directory
+task _cleanDocs(type: Delete){
+  delete "docs"
 }
+tasks.clean.dependsOn(tasks._cleanDocs)
 
+// This is just a compatibility thing
 subprojects.each { subproject ->
   evaluationDependsOn(subproject.path)
 }
-task mmJar(type: Jar, dependsOn: subprojects.jar) {
-  subprojects.each { subproject ->
-    from subproject.configurations.archives.artifacts.files.collect {
-      zipTree(it)
-    }
+
+// This gets run by our CI pipeline to generate https://frc5024.github.io/lib5k
+task document(dependsOn: combineJavadoc){
+  // Clear out the docs folder, and move the JavaDoc into it
+  dependsOn _cleanDocs
+  doLast{
+    file("$rootProject.buildDir/docs/javadoc").renameTo(file("docs"))
   }
 }
 
-task copyPyLogReader(type: Copy){
-  from "scripts/logreader.py"
-  into "_release"
+/* Build all the required JARs */
+
+// This will take every JavaDoc and pack it into a single JAR
+task _buildJavaDocJar(type: Jar, dependsOn: document){
+  classifier = "javadoc"
+  from file("docs")
 }
 
-task copyPySim(type: Copy){
-  from "scripts/simulate.py"
-  into "_release"
+// This will create a Jar file containing all the source code. This isn't used on-robot, but is just used by IDEs to generate the 'F12' info
+task _buildAllSourcesJar(type: Jar){
+  classifier = "sources"
+
+  // Iterate through each project, and add it's source code
+  from allprojects.collect { it.sourceSets.main.allSource }
 }
 
-task packModules(type: Zip){
-  archiveFileName = "modules.zip"
-  destinationDirectory = file("_release")
-  from "_release/modules"
+// This task bundles together all the .class files into a single JAR
+task _buildAllClassesJar(type: Jar){
+  classifier = "classes"
+
+  // Needs to build the project
+  dependsOn build
+
+  // Disable support for 64-bit JARs (The RoboRIO is a 32-bit system)
+  zip64 = false
+
+  // Load all class files
+  from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+
+}
+
+// This will bundle EVERYTHING into one Jar
+task _buildAllJar(type: Jar){
+  classifier = "all"
+
+  // Needs to build the project
+  dependsOn build
+  dependsOn document
+
+  // Load all files for the bug JAR
+  from file("docs"), allprojects.collect { it.sourceSets.main.allSource }, { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+}
+
+// This task is used to copy all python scripts from scripts/ to _release/python/
+task _copyPy(type: Copy){
+  from "scripts"
+  into "_release/python"
+  include "*.py"
 }
 
-task buildRelease(type: Jar){
-  delete file("_release")
-  delete file("$rootProject.buildDir/libs")
-  dependsOn subprojects.fatJar
-  dependsOn subprojects.jar
-  dependsOn project(":bundle").buildBundle
-  dependsOn copyPyLogReader
-  dependsOn copyPySim
-  dependsOn packModules
-  // doLast{
-  //   subprojects.each { subproject ->
-  //   from subproject.configurations.archives.artifacts.files.collect {
-  //       zipTree(it)
-  //     }
-  //   }
-  //   // fileTree("_release/modules").each {
-  //   //   from it
-  //   // }
-
-  //   // from fileTree("_release/modules").files.collect
-  //   println "$rootProject.buildDir/libs/lib5k-"+project.version+".jar"
-  //   file("$rootProject.buildDir/libs/lib5k-"+project.version+".jar").renameTo(file("_release/lib5k-"+project.version+"-monolithic.jar"))
-  // }
+// This task is used to copy all jar files from build/libs/ to _release/jar/
+task _copyJar(type: Copy){
+
+  // Copy dependancies
+  dependsOn _buildJavaDocJar
+  dependsOn _buildAllSourcesJar
+  dependsOn _buildAllClassesJar
+  dependsOn _buildAllJar
+
+  // Where and how to copy
+  from "build/libs"
+  into "_release/jar"
+  include project.name + "-" + project.version +"-*.jar"
+}
+
+// This task is used to clean out the _release directory
+task _cleanRelease(type: Delete){
+  delete "_release"
+}
+tasks.clean.dependsOn(tasks._cleanRelease)
+
+// This will build everything needed for release
+task buildRelease {
+  dependsOn _copyPy
+  dependsOn _copyJar
+}
+
+// This will build only a JAR file to be used for beta testing
+task buildBeta(type: Copy) {
+  dependsOn _buildAllJar
+
+  from "build/libs"
+  into "_release/jar"
+  include project.name + "-" + project.version +"-all.jar"
 }