Merge pull request #22 from strykeforce/frc-2022

Update for 2022 FRC dependencies

Author: jhh

build.gradle

@@ -1,46 +1,38 @@
+import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
+
 plugins {
     id "java"
-    id "org.jetbrains.kotlin.jvm" version "1.5.0"
-    id "edu.wpi.first.GradleRIO" version "2021.3.1"
+    id "org.jetbrains.kotlin.jvm" version "1.6.10"
+    id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
-version = "21.0.0"
+version = "22.0.0"
 
 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'
+        roborio(getTargetTypeClass('RoboRIO')) {
+            team = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+            artifacts {
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {}
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
         }
     }
 }
 
-// Set this to true to enable desktop support.
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+wpi.java.debugJni = false
+
 def includeDesktopSupport = false
 
 repositories {
@@ -50,14 +42,22 @@ repositories {
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
-    implementation wpi.deps.wpilib()
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
 
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    implementation wpi.deps.vendor.java()
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
+
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
 
     // We need to add the Kotlin stdlib in order to use most Kotlin language features.
 //    implementation "org.jetbrains.kotlin:kotlin-stdlib"
@@ -68,8 +68,8 @@ dependencies {
     implementation("net.consensys.cava:cava-toml:0.5.0")
 
     // Logging
-    implementation("io.github.microutils:kotlin-logging-jvm:2.0.6")
-    implementation("ch.qos.logback:logback-classic:1.2.3")
+    implementation('io.github.microutils:kotlin-logging-jvm:2.1.21')
+    implementation('ch.qos.logback:logback-classic:1.2.10')
 
     // Koin
     implementation("org.koin:koin-core:1.0.2")
@@ -81,10 +81,6 @@ dependencies {
     testImplementation("org.junit.jupiter:junit-jupiter")
     testImplementation("org.assertj:assertj-core:3.19.0")
     testImplementation("com.nhaarman.mockitokotlin2:mockito-kotlin:2.2.0")
-
-    // Enable simulation gui support. Must check the box in vscode to enable support
-    // upon debugging
-    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
 }
 
 tasks.withType(org.jetbrains.kotlin.gradle.tasks.KotlinCompile).configureEach {
@@ -97,16 +93,13 @@ test {
     useJUnitPlatform()
 }
 
-// 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.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-    manifest {
-        attributes(
-                'Implementation-Title': 'Third Coast Telemetry Utility (tct)',
-                'Implementation-Version': archiveVersion
-        )
-    }
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)

gradle/wrapper/gradle-wrapper.jar

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.9-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

gradle/wrapper/gradle-wrapper.properties

@@ -82,6 +82,7 @@ esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
@@ -129,6 +130,7 @@ fi
 if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
     JAVACMD=`cygpath --unix "$JAVACMD"`
 
     # We build the pattern for arguments to be converted via cygpath

gradlew

@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell

gradlew.bat

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2020'
+        String frcYear = '2022'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
@@ -25,5 +25,3 @@ pluginManagement {
         }
     }
 }
-
-rootProject.name = "tct"

settings.gradle

@@ -7,23 +7,24 @@ import com.ctre.phoenix.motorcontrol.can.TalonFX
 import com.ctre.phoenix.motorcontrol.can.TalonSRX
 import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration
 import com.ctre.phoenix.sensors.PigeonIMU
+import edu.wpi.first.math.geometry.Translation2d
 import edu.wpi.first.wpilibj.DigitalOutput
+import edu.wpi.first.wpilibj.PneumaticsModuleType
 import edu.wpi.first.wpilibj.Servo
 import edu.wpi.first.wpilibj.Solenoid
 import org.jline.reader.LineReader
 import org.jline.reader.LineReaderBuilder
 import org.jline.terminal.Terminal
 import org.jline.terminal.TerminalBuilder
 import org.koin.dsl.module.module
+import org.strykeforce.swerve.*
 import org.strykeforce.thirdcoast.command.Command
 import org.strykeforce.thirdcoast.device.*
-import org.strykeforce.thirdcoast.swerve.SwerveDrive
-import org.strykeforce.thirdcoast.swerve.SwerveDriveConfig
-import org.strykeforce.thirdcoast.swerve.Wheel
-import org.strykeforce.thirdcoast.telemetry.TelemetryController
-import org.strykeforce.thirdcoast.telemetry.TelemetryService
-import org.strykeforce.thirdcoast.telemetry.grapher.ClientHandler
+import org.strykeforce.telemetry.TelemetryController
+import org.strykeforce.telemetry.TelemetryService
+import org.strykeforce.telemetry.grapher.ClientHandler
 import java.net.DatagramSocket
+import java.net.InetSocketAddress
 import java.util.function.Function
 
 private const val CLIENT_PORT = 5801
@@ -33,15 +34,23 @@ val tctModule = module {
 
     factory { ClientHandler(CLIENT_PORT, DatagramSocket()) }
 
-    single { TelemetryService(Function { inventory -> TelemetryController(inventory, get(), SERVER_PORT) }) }
+    single {
+        TelemetryService(Function { inventory ->
+            TelemetryController(
+                inventory,
+                get(),
+                InetSocketAddress(SERVER_PORT)
+            )
+        })
+    }
 
     single { TalonService(get()) { id -> TalonSRX(id) } }
-    
+
     single { TalonFxService(get()) { id -> TalonFX(id) } }
 
     single { ServoService { id -> Servo(id) } }
 
-    single { SolenoidService { id -> Solenoid(id) } }
+    single { SolenoidService { id -> Solenoid(PneumaticsModuleType.CTREPCM, id) } }
 
     single { DigitalOutputService { id -> DigitalOutput(id) } }
 
@@ -59,16 +68,27 @@ val tctModule = module {
 
 val swerveModule = module {
 
-    single {
-        SwerveDriveConfig().apply {
-            wheels = getWheels()
-        }
-    }
+    single { SwerveDrive(*getSwerveModules()) }
+
+}
 
-    single { SwerveDrive(get()) }
+private fun getSwerveModules() = Array<SwerveModule>(4) { i -> getSwerveModule(i) }
 
+private val moduleBuilder = TalonSwerveModule.Builder().driveGearRatio(1.0).wheelDiameterInches(1.0)
+    .driveMaximumMetersPerSecond(1.0)
+
+private fun getSwerveModule(i: Int) : TalonSwerveModule {
+    val location = when (i) {
+        0 -> Translation2d(1.0, 1.0)
+        1 -> Translation2d(1.0, -1.0)
+        2 -> Translation2d(-1.0, 1.0)
+        else -> Translation2d(-1.0, -1.0)
+    }
+    return moduleBuilder.azimuthTalon(TalonSRX(i)).driveTalon(TalonFX(i + 10))
+        .wheelLocationMeters(location).build()
 }
 
+/*
 private fun getWheels(): Array<Wheel> {
     val azimuthConfig = TalonSRXConfiguration().apply {
         primaryPID.selectedFeedbackSensor = FeedbackDevice.CTRE_MagEncoder_Relative
@@ -107,3 +127,4 @@ private fun getWheels(): Array<Wheel> {
         )
     }
 }
+ */

src/main/kotlin/org/strykeforce/thirdcoast/Koin.kt

@@ -7,6 +7,7 @@ import org.jline.terminal.Terminal
 import org.strykeforce.thirdcoast.command.DOUBLE_FORMAT_4
 import org.strykeforce.thirdcoast.command.MenuCommand
 import org.strykeforce.thirdcoast.command.prompt
+import java.util.*
 import kotlin.math.roundToInt
 
 const val INVALID = -1
@@ -40,7 +41,7 @@ fun LineReader.readDouble(
 
 fun LineReader.readBoolean(prompt: String = PROMPT, default: Boolean = false) = try {
     val line = this.readLine(prompt, null, if (default) "y" else "n").trim()
-    when (line.toLowerCase()) {
+    when (line.lowercase(Locale.getDefault())) {
         "y" -> true
         "n" -> false
         "" -> throw EndOfFileException()

src/main/kotlin/org/strykeforce/thirdcoast/Readers.kt

@@ -1,7 +1,5 @@
 package org.strykeforce.thirdcoast
 
-import edu.wpi.first.wpilibj.PowerDistributionPanel
-import org.strykeforce.thirdcoast.telemetry.item.PowerDistributionPanelItem
 import edu.wpi.first.wpilibj.TimedRobot
 import mu.KotlinLogging
 import net.consensys.cava.toml.Toml
@@ -11,8 +9,8 @@ import org.koin.log.Logger.SLF4JLogger
 import org.koin.standalone.KoinComponent
 import org.koin.standalone.StandAloneContext.startKoin
 import org.koin.standalone.inject
+import org.strykeforce.telemetry.TelemetryService
 import org.strykeforce.thirdcoast.command.Command
-import org.strykeforce.thirdcoast.telemetry.TelemetryService
 import kotlin.concurrent.thread
 import kotlin.system.exitProcess
 
@@ -22,8 +20,7 @@ class Robot : TimedRobot(), KoinComponent {
 
     override fun robotInit() {
         startKoin(listOf(tctModule, swerveModule), logger = SLF4JLogger())
-        val telemetryService:TelemetryService by inject()
-        telemetryService.register(PowerDistributionPanelItem(PowerDistributionPanel()))
+        val telemetryService: TelemetryService by inject()
         thread(name = "tct", start = true) {
             val toml = parseResource("/commands.toml")
             val root = Command.createFromToml(toml)
@@ -54,9 +51,8 @@ fun parseResource(path: String): TomlTable {
     exitProcess(-1)
 }
 
-fun loadResource(resource: String): String =
-    try {
-        object {}.javaClass.getResource(resource).readText(Charsets.UTF_8)
-    } catch (all: Exception) {
-        throw RuntimeException("Failed to load resource=$resource!", all)
-    }
+fun loadResource(resource: String): String = try {
+    object {}.javaClass.getResource(resource).readText(Charsets.UTF_8)
+} catch (all: Exception) {
+    throw RuntimeException("Failed to load resource=$resource!", all)
+}