Merge pull request #14 from strykeforce/frc_2020

Updated for 2020

Author: jhh

.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2020",
+    "teamNumber": 2767
+}

build.gradle

@@ -1,99 +1,97 @@
 plugins {
+    id "java"
+    id "org.jetbrains.kotlin.jvm" version "1.3.61"
+    id "edu.wpi.first.GradleRIO" version "2020.1.2"
+}
 
-    id "org.jetbrains.kotlin.jvm" version "1.3.40"
-    id "idea"
+sourceCompatibility = JavaVersion.VERSION_11
+targetCompatibility = JavaVersion.VERSION_11
+
+def ROBOT_MAIN_CLASS = "org.strykeforce.thirdcoast.DummyMain"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project EmbeddedTools.
+deploy {
+    targets {
+        roboRIO("roborio") {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = frc.getTeamNumber()
+        }
+    }
+    artifacts {
+        frcJavaArtifact('frcJava') {
+            targets << "roborio"
+            // Debug can be overridden by command line, for use with VSCode
+            debug = frc.getDebugOrDefault(false)
+        }
+        // Built in artifact to deploy arbitrary files to the roboRIO.
+        fileTreeArtifact('frcStaticFileDeploy') {
+            // The directory below is the local directory to deploy
+            files = fileTree(dir: 'src/main/deploy')
+            // Deploy to RoboRIO target, into /home/lvuser/deploy
+            targets << "roborio"
+            directory = '/home/lvuser/deploy'
+        }
+    }
 }
 
-version = "19.4.1"
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
 
 repositories {
     jcenter()
-    maven { url = "http://devsite.ctr-electronics.com/maven/release/" }
     maven { url = "http://first.wpi.edu/FRC/roborio/maven/release" }
-    mavenLocal()
 }
-
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
 dependencies {
-    // FRC libs
-    compile "edu.wpi.first.wpilibj:wpilibj-java:${wpi_version}"
-    compile "edu.wpi.first.ntcore:ntcore-java:${wpi_version}"
-    compile "edu.wpi.first.cscore:cscore-java:${wpi_version}"
-    compile "edu.wpi.first.thirdparty.frc2019.opencv:opencv-java:3.4.4-4"
+    implementation wpi.deps.wpilib()
+    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+
 
-    // Vendor libs
-    compile "com.ctre.phoenix:api-java:5.12.1"
-    compile "com.ctre.phoenix:wpiapi-java:5.12.1"
+    implementation wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
 
-    // Kotlin
-    compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:${kotlin_version}"
+    // We need to add the Kotlin stdlib in order to use most Kotlin language features.
+    implementation "org.jetbrains.kotlin:kotlin-stdlib"
 
     // App
-    compile "org.jline:jline:3.9.0"
-    compile 'net.consensys.cava:cava-toml:0.5.0'
-    compile "org.strykeforce.thirdcoast:telemetry:${thirdcoast_version}"
-    compile "org.strykeforce.thirdcoast:swerve:${thirdcoast_version}"
+    implementation "org.jline:jline:3.9.0"
+    implementation 'net.consensys.cava:cava-toml:0.5.0'
+
+    implementation "org.strykeforce.thirdcoast:telemetry:19.5.1"
+    implementation "org.strykeforce.thirdcoast:swerve:19.5.1"
 
     // Logging
-    compile 'io.github.microutils:kotlin-logging:1.6.10'
-    compile 'ch.qos.logback:logback-classic:1.2.3'
+    implementation 'io.github.microutils:kotlin-logging:1.6.10'
+    implementation 'ch.qos.logback:logback-classic:1.2.3'
 
     // Koin
-    compile "org.koin:koin-core:$koin_version"
-    compile "org.koin:koin-logger-slf4j:${koin_version}"
-    testCompile "org.koin:koin-test:${koin_version}"
+    implementation "org.koin:koin-core:1.0.2"
+    implementation "org.koin:koin-logger-slf4j:1.0.2"
+    testImplementation "org.koin:koin-test:1.0.2"
 
     // Testing
-    testCompile "org.junit.jupiter:junit-jupiter-api:${junit_version}"
-    testCompile "org.junit.jupiter:junit-jupiter-params:${junit_version}"
-    testRuntime "org.junit.jupiter:junit-jupiter-engine:${junit_version}"
-    testCompile "org.assertj:assertj-core:3.11.1"
-    testCompile "com.nhaarman.mockitokotlin2:mockito-kotlin:2.1.0"
-
-}
-
-compileKotlin {
-    kotlinOptions {
-        jvmTarget = "1.8"
-        freeCompilerArgs = ["-progressive"]
-    }
-}
-
-compileTestKotlin {
-    kotlinOptions {
-        jvmTarget = "1.8"
-        freeCompilerArgs = ["-progressive"]
-    }
-}
-
-test {
-    useJUnitPlatform()
-
-    testLogging {
-        events "passed", "skipped", "failed"
-    }
-
-    reports {
-        html.enabled = true
-    }
-}
-
-def robotManifest = {
-    attributes 'Main-Class': 'org.strykeforce.thirdcoast.MainKt',
-            'Robot-Class': 'org.strykeforce.thirdcoast.Robot',
-            'Specification-Title': 'Third Coast Telemetry',
-            'Specification-Version': "${thirdcoast_version}",
-            'Implementation-Title': 'Third Coast Telemetry Utility (tct)',
-            'Implementation-Version': version
+    testImplementation "org.junit.jupiter:junit-jupiter-api:5.5.2"
+    testImplementation "org.junit.jupiter:junit-jupiter-params:5.5.2"
+    testRuntime "org.junit.jupiter:junit-jupiter-engine:5.5.2"
+    testImplementation "org.assertj:assertj-core:3.11.1"
+    testImplementation "com.nhaarman.mockitokotlin2:mockito-kotlin:2.1.0"
+
+    // Enable simulation gui support. Must check the box in vscode to enable support
+    // upon debugging
+    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
 }
 
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
 jar {
-    from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
-    manifest robotManifest
-}
-
-idea {
-    module {
-        downloadJavadoc = true
-        downloadSources = true
-    }
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
 }

gradle.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
+zipStorePath=permwrapper/dists

gradle/wrapper/gradle-wrapper.jar

@@ -1,5 +1,21 @@
 #!/usr/bin/env sh
 
+#
+# Copyright 2015 the original author or authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
 ##############################################################################
 ##
 ##  Gradle start up script for UN*X
@@ -28,7 +44,7 @@ APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m"'
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
@@ -109,8 +125,8 @@ if $darwin; then
     GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
 fi
 
-# For Cygwin, switch paths to Windows format before running java
-if $cygwin ; then
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
     JAVACMD=`cygpath --unix "$JAVACMD"`
@@ -138,19 +154,19 @@ if $cygwin ; then
         else
             eval `echo args$i`="\"$arg\""
         fi
-        i=$((i+1))
+        i=`expr $i + 1`
     done
     case $i in
-        (0) set -- ;;
-        (1) set -- "$args0" ;;
-        (2) set -- "$args0" "$args1" ;;
-        (3) set -- "$args0" "$args1" "$args2" ;;
-        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+        0) set -- ;;
+        1) set -- "$args0" ;;
+        2) set -- "$args0" "$args1" ;;
+        3) set -- "$args0" "$args1" "$args2" ;;
+        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
     esac
 fi
 
@@ -159,14 +175,9 @@ save () {
     for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
     echo " "
 }
-APP_ARGS=$(save "$@")
+APP_ARGS=`save "$@"`
 
 # Collect all arguments for the java command, following the shell quoting and substitution rules
 eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
 
-# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
-if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
-  cd "$(dirname "$0")"
-fi
-
 exec "$JAVACMD" "$@"