Merge pull request #103 from flamingchickens1540/2019-updates

2019 updates

.travis.yml

@@ -1,13 +1,16 @@
 language: java
+jdk:
+  - openjdk11
 before_cache:
   - rm -f  $HOME/.gradle/caches/modules-2/modules-2.lock
   - rm -fr $HOME/.gradle/caches/*/plugin-resolution/
-  - rm -f  $HOME/.gradle/caches/4.4/fileHashes/fileHashes.bin
-  - rm -f  $HOME/.gradle/caches/4.4/fileHashes/fileHashes.lock
+  - rm -f  $HOME/.gradle/caches/5.0/fileHashes/fileHashes.bin
+  - rm -f  $HOME/.gradle/caches/5.0/fileHashes/fileHashes.lock
 cache:
   directories:
   - "$HOME/.gradle/caches/"
   - "$HOME/.gradle/wrapper/"
+  - "$HOME/.gradle/permwrapper/"
   - "$HOME/.gradle/gradlerio/"
 notifications:
   slack:
@@ -19,7 +22,7 @@ env:
 before_deploy: travis-scripts/name-release-files.sh
 deploy:
   - provider: pages # Javadoc deployment to Github Pages
-    local-dir: lib/build/docs/javadoc/
+    local-dir: build/docs/javadoc/
     skip-cleanup: true
     github-token: $GITHUB_TOKEN
     keep-history: true
@@ -28,7 +31,7 @@ deploy:
   - provider: releases # Automatic JAR file deployment whenever a release is created
     api_key: $GITHUB_TOKEN
     file-glob: true
-    file: lib/build/libs/*
+    file: build/libs/*
     skip-cleanup: true
     on:
       tags: true

README.md

@@ -99,6 +99,8 @@ dependencies {
 }
 ```
 
+Additionally, you should be using the latest version of GradleRIO with CTRE Phoenix, Kauai Labs NavX, and Pathfinder v1 vendor libraries installed.
+
 We use [JitPack](https://jitpack.io) as a Gradle/Maven repository. This means that if you add the project using Gradle it will be automatically updated with the latest changes to the `master` branch, as well as source code and documentation .jar files.
 
 Using `master-SNAPSHOT` as a version number is good for projects you're actively developing, but after you've finished it's better to anchor it to a specific version (simply change "`master-SNAPSHOT`" to the version number) to avoid possible backwards-compatibility issues.
@@ -111,7 +113,7 @@ _Note: If you need to use changes that have just been pushed to master, you may
 
 ### Project Structure
 
-ROOSTER is made up of two separate Gradle projects, `lib` (the actual ROOSTER library) and `test` (self-contained robot classes to test library components). Anything in `lib` gets packaged into the distribution JARs, while `test` is only for testing the components from `lib` (and as such includes GradleRIO etc. for deploying to a robot).
+ROOSTER's code is divided into two segments: `main` (in `src/main`), containing main library code which is packed into distribution JARs and given to anyone who adds the library as a dependency, and `testbots` (in `src/testbots`), containing robot classes etc. for testing the components in `main`.  
 
 ### Building
 

build.gradle

@@ -1,37 +1,152 @@
-buildscript {
-    ext.kotlin_version = '1.3.0'
+import edu.wpi.first.gradlerio.GradleRIOPlugin
 
-    repositories {
-        mavenCentral()
+plugins {
+    id "java"
+    id "maven"
+    id "edu.wpi.first.GradleRIO" version "2019.1.1"
+    id "org.jetbrains.kotlin.jvm" version "1.3.0"
+}
+
+
+// Maven/Jitpack configuration
+task sourcesJar(type: Jar, dependsOn: classes) {
+    classifier = 'sources'
+    from sourceSets.main.allSource
+}
+
+task javadocJar(type: Jar, dependsOn: javadoc) {
+    classifier = 'javadoc'
+    from javadoc.destinationDir
+}
+
+artifacts {
+    archives sourcesJar
+    archives javadocJar
+}
+
+javadoc {
+    options {
+        header '<script type="text/javascript" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>'
+        links 'http://first.wpi.edu/FRC/roborio/release/docs/java/'
+        linksOffline('https://docs.oracle.com/javase/8/docs/api/', 'https://docs.oracle.com/javase/8/docs/api/')
+    }
+    options.addStringOption("doctitle", "ROOSTER API")
+    options.addStringOption("windowtitle", "ROOSTER API")
+    options.addBooleanOption("-allow-script-in-comments", true)
+    options.addBooleanOption('Xdoclint:all,-missing', true)
+}
+
+// Dependencies
+
+repositories {
+    mavenCentral()
+    maven {
+        name "JitPack"
+        url "https://jitpack.io/"
     }
+}
+
+dependencies {
+    // FRC dependencies
+    compile wpi.deps.wpilib()
+    compile wpi.deps.vendor.java()
+    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+    // Non-FRC dependencies
+    compile 'org.jetbrains:annotations:16.0.3'
+    compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.0"
 
-    dependencies {
-        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
+    compile "com.google.guava:guava:27.0-jre"
+    compile "org.apache.commons:commons-math3:3.6.1"
+    // Last release was in 2014, so we're just pinning it to this commit instead
+    compile "com.github.oxo42:stateless4j:3dd512049f"
+}
+
+// deployment and GradleRIO
+
+// define the testbots source set
+sourceSets {
+    testbots {
+        compileClasspath += sourceSets.main.output
+        runtimeClasspath += sourceSets.main.output
     }
 }
 
-task wrapper(type: Wrapper) {
-    gradleVersion = '4.4'
-    distributionUrl = "https://services.gradle.org/distributions/gradle-4.4-all.zip"
+configurations {
+    testbotsCompile.extendsFrom compile
+    testbotsRuntimeOnly.extendsFrom runtimeOnly
 }
 
-subprojects {
-    apply plugin: "java"
-    apply plugin: "kotlin"
+// task to create robotclass.txt
+task createRobotclassTxt {
+    inputs.property("robotClass", project.hasProperty("robotClass") ? project.robotClass : "")
+    outputs.files("$buildDir/robotclass.txt")
+    doLast {
+        if (!project.hasProperty("robotClass")) {
+            throw new GradleException("Robot class not set. Pass a value in on the command line by adding -ProbotClass=<your robot class>.")
+        } else {
+            System.out.println("Using robot class " + project.robotClass)
+            new File("$buildDir/robotclass.txt").text = project.robotClass
+        }
+    }
+}
 
-    compileKotlin {
-        kotlinOptions {
-            jvmTarget = "1.8"
+deploy {
+    targets {
+        roboRIO("roborio") {
+            team = frc.getTeamOrDefault(1540)
         }
     }
+    artifacts {
+        frcJavaArtifact('frcJava') {
+            targets << "roborio"
+            /*
+            IMPORTANT: With the "deploy-debug" property set (i.e. -Pdeploy-debug is on the
+            command line), the robot code will not start until you connect your debugger to the
+            robot. Connect by running the "Remote Robot Debug" run configuration which should be
+            shared through version control. Alternatively, remove this line and redeploy.
+            */
+            debug = project.hasProperty("deploy-debug")
+        }
+        // This is a file (generated by the task above) that contains the name of the robot class we want to deploy.
+        // The file then gets read by TestbotLoaderMain and it instantiates the class using
+        // reflection.
+        // TODO: Maybe a build-time check that said class file actually exists somewhere in the project?
+        fileArtifact('robotclassTxt') {
+            targets << "roborio"
+
+            file = file("$buildDir/robotclass.txt")
+            directory = "/home/lvuser/"
 
-    repositories {
-        mavenCentral()
-        maven {url "https://jitpack.io/"}
+            dependsOn(createRobotclassTxt)
+        }
     }
+}
 
-    dependencies {
-        compile 'org.jetbrains:annotations:16.0.3'
-        compile "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
+jar.dependsOn(compileTestbotsJava)
+
+jar {
+    inputs.files(compileTestbotsJava.outputs.files)
+    gradle.taskGraph.whenReady {
+        if (gradle.taskGraph.hasTask(":deployFrcJava") || gradle.taskGraph.hasTask(":simulateJava") || gradle.taskGraph.hasTask(":simulateExternalJava")) {
+            // fully qualified task name is needed
+            System.out.println("Deployment or simulation detected.")
+            from((configurations.compile.collect {
+                it.isDirectory() ? it : zipTree(it)
+            }) + sourceSets.testbots.output)
+            manifest GradleRIOPlugin.javaManifest("org.team1540.rooster.testing.TestbotLoaderMain")
+        }
     }
 }
+
+simulateJava.dependsOn.removeAll()
+simulateJava.dependsOn(extractTestJNI)
+simulateJava.dependsOn(jar)
+
+// wrapper
+
+wrapper {
+    gradleVersion = '5.0'
+    distributionType = Wrapper.DistributionType.ALL
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,5 @@
-#Fri Nov 30 17:46:10 PST 2018
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-all.zip
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-4.4-all.zip
+zipStorePath=permwrapper/dists

gradlew

@@ -28,7 +28,7 @@ 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=""
+DEFAULT_JVM_OPTS='"-Xmx64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"

gradlew.bat

@@ -14,7 +14,7 @@ set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
 @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=
+set DEFAULT_JVM_OPTS="-Xmx64m"
 
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome

settings.gradle

@@ -1,4 +1 @@
 rootProject.name = 'ROOSTER'
-
-include 'lib'
-include 'test'

lib/src/main/java/org/team1540/rooster/ChickenSubsystem.java → src/main/java/org/team1540/rooster/ChickenSubsystem.java

@@ -37,7 +37,7 @@ public double getCurrent() {
       double sum = 0;
       for (ChickenController motor : motors.keySet()) {
         if (motor instanceof ChickenTalon) {
-          sum += motor.getOutputCurrent();
+          sum += ((ChickenTalon) motor).getOutputCurrent();
         }
       }
       return sum;