From 7adce5583c07200f5a6fbe25eb98bcc36a222b86 Mon Sep 17 00:00:00 2001 From: Thad House Date: Sat, 30 May 2020 15:58:16 -0700 Subject: [PATCH] Adds FRCVision Plugin V2 Missing debugging, but does deploy, and now includes an example. Examples need to be updated to actually look normal. Superceeds #412 --- .../pi/cpp/.wpilib/wpilib_preferences.json | 6 + examples/pi/cpp/README.md | 4 + examples/pi/cpp/build.gradle | 65 ++++++ .../pi/cpp/gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 58702 bytes .../gradle/wrapper/gradle-wrapper.properties | 5 + examples/pi/cpp/gradlew | 183 ++++++++++++++++ examples/pi/cpp/gradlew.bat | 100 +++++++++ examples/pi/cpp/settings.gradle | 27 +++ examples/pi/cpp/src/main/cpp/robot.cpp | 72 +++++++ examples/pi/cpp/src/main/include/Robot.h | 30 +++ examples/pi/cpp/src/test/cpp/main.cpp | 17 ++ .../pi/java/.wpilib/wpilib_preferences.json | 6 + examples/pi/java/README.md | 4 + examples/pi/java/build.gradle | 50 +++++ .../pi/java/gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 58702 bytes .../gradle/wrapper/gradle-wrapper.properties | 5 + examples/pi/java/gradlew | 183 ++++++++++++++++ examples/pi/java/gradlew.bat | 100 +++++++++ examples/pi/java/settings.gradle | 27 +++ .../main/java/frc/team0000/robot/Main.java | 29 +++ .../main/java/frc/team0000/robot/Robot.java | 90 ++++++++ .../first/gradlerio/GradleRIOPlugin.groovy | 5 + .../FRCVisionCompatibleTarget.groovy | 9 + .../frcvision/FRCVisionJavaArtifact.groovy | 94 ++++++++ .../frcvision/FRCVisionNativeArtifact.groovy | 201 ++++++++++++++++++ .../FRCVisionNativeLibraryArtifact.groovy | 27 +++ .../frcvision/FRCVisionPlugin.groovy | 124 +++++++++++ .../wpi/first/gradlerio/frcvision/Pi.groovy | 107 ++++++++++ .../wpi/first/gradlerio/wpi/WPIPlugin.groovy | 1 + 29 files changed, 1571 insertions(+) create mode 100644 examples/pi/cpp/.wpilib/wpilib_preferences.json create mode 100644 examples/pi/cpp/README.md create mode 100644 examples/pi/cpp/build.gradle create mode 100644 examples/pi/cpp/gradle/wrapper/gradle-wrapper.jar create mode 100644 examples/pi/cpp/gradle/wrapper/gradle-wrapper.properties create mode 100644 examples/pi/cpp/gradlew create mode 100644 examples/pi/cpp/gradlew.bat create mode 100644 examples/pi/cpp/settings.gradle create mode 100644 examples/pi/cpp/src/main/cpp/robot.cpp create mode 100644 examples/pi/cpp/src/main/include/Robot.h create mode 100644 examples/pi/cpp/src/test/cpp/main.cpp create mode 100644 examples/pi/java/.wpilib/wpilib_preferences.json create mode 100644 examples/pi/java/README.md create mode 100644 examples/pi/java/build.gradle create mode 100644 examples/pi/java/gradle/wrapper/gradle-wrapper.jar create mode 100644 examples/pi/java/gradle/wrapper/gradle-wrapper.properties create mode 100644 examples/pi/java/gradlew create mode 100644 examples/pi/java/gradlew.bat create mode 100644 examples/pi/java/settings.gradle create mode 100644 examples/pi/java/src/main/java/frc/team0000/robot/Main.java create mode 100644 examples/pi/java/src/main/java/frc/team0000/robot/Robot.java create mode 100644 src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionCompatibleTarget.groovy create mode 100644 src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionJavaArtifact.groovy create mode 100644 src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionNativeArtifact.groovy create mode 100644 src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionNativeLibraryArtifact.groovy create mode 100644 src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionPlugin.groovy create mode 100644 src/main/groovy/edu/wpi/first/gradlerio/frcvision/Pi.groovy diff --git a/examples/pi/cpp/.wpilib/wpilib_preferences.json b/examples/pi/cpp/.wpilib/wpilib_preferences.json new file mode 100644 index 00000000..c1c984da --- /dev/null +++ b/examples/pi/cpp/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": true, + "currentLanguage": "cpp", + "projectYear": "2020", + "teamNumber": 9999 +} diff --git a/examples/pi/cpp/README.md b/examples/pi/cpp/README.md new file mode 100644 index 00000000..18d11fac --- /dev/null +++ b/examples/pi/cpp/README.md @@ -0,0 +1,4 @@ +C++ +--- + +This example involves building and deploying C++ sources. This should be all you need to get started. \ No newline at end of file diff --git a/examples/pi/cpp/build.gradle b/examples/pi/cpp/build.gradle new file mode 100644 index 00000000..f788f07b --- /dev/null +++ b/examples/pi/cpp/build.gradle @@ -0,0 +1,65 @@ +plugins { + id "cpp" + id "google-test-test-suite" + id "edu.wpi.first.GradleRIO" version "2020.3.2" +} + +// Define my targets (Pi) and artifacts (deployable files) +// This is added by GradleRIO's backing project EmbeddedTools. +deploy { + targets { + pi("pi") { + // 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 { + frcvisionNativeArtifact('frcCpp') { + targets << "pi" + component = 'frcvisionUserProgram' + // Debug can be overridden by command line, for use with VSCode + debug = frc.getDebugOrDefault(false) + } + } +} + +model { + components { + frcvisionUserProgram(NativeExecutableSpec) { + targetPlatform wpi.platforms.raspbian + targetPlatform wpi.platforms.desktop + + sources.cpp { + source { + srcDir 'src/main/cpp' + } + exportedHeaders { + srcDir 'src/main/include' + } + } + + // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. + wpi.deps.wpilib(it) + wpi.deps.vendor.cpp(it) + } + } + testSuites { + frcvisionUserProgramTest(GoogleTestTestSuiteSpec) { + testing $.components.frcvisionUserProgram + + sources.cpp { + source { + srcDir 'src/test/cpp' + include '**/*.cpp' + } + } + + wpi.deps.wpilib(it) + wpi.deps.googleTest(it) + wpi.deps.vendor.cpp(it) + } + } +} diff --git a/examples/pi/cpp/gradle/wrapper/gradle-wrapper.jar b/examples/pi/cpp/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..cc4fdc293d0e50b0ad9b65c16e7ddd1db2f6025b GIT binary patch literal 58702 zcma&OV~}W3vL#%;<*Hk@ZQHhO+qTVHwr$(CZQFL$+?np4n10i5zVAmKMC6WrGGd+F zD|4@NHj-D$z)bJV;MYNJ&!D%)v-fQ%q0JG$_z5GVUJTPg0MHPf1TvicY#6DXYBBQ4M`$iC~gA;06+%@0HFQPLj-JXogAJ1j+fRqw^4M` zcW^RxAfl%+w9SiS>QwBUTAfuFAjPXc2DHf6*sr+V+jLQj^m@DQgHTPmAb@F z8%GyCfcQkhWWlT31%4$PtV4tV*LI?J#C4orYI~WU(cSR{aEs^ycxY`1>j1po>yDMi 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00000000..2fe81a7d --- /dev/null +++ b/examples/pi/cpp/gradlew @@ -0,0 +1,183 @@ +#!/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 +## +############################################################################## + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >/dev/null +APP_HOME="`pwd -P`" +cd "$SAVED" >/dev/null + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn () { + echo "$*" +} + +die () { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; + NONSTOP* ) + nonstop=true + ;; +esac + +CLASSPATH=$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 + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# 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"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + 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" ;; + esac +fi + +# Escape application args +save () { + for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done + echo " " +} +APP_ARGS=`save "$@"` + +# 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" + +exec "$JAVACMD" "$@" diff --git a/examples/pi/cpp/gradlew.bat b/examples/pi/cpp/gradlew.bat new file mode 100644 index 00000000..24467a14 --- /dev/null +++ b/examples/pi/cpp/gradlew.bat @@ -0,0 +1,100 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +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="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto init + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto init + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +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% + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/examples/pi/cpp/settings.gradle b/examples/pi/cpp/settings.gradle new file mode 100644 index 00000000..cfdd4a97 --- /dev/null +++ b/examples/pi/cpp/settings.gradle @@ -0,0 +1,27 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2020' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} diff --git a/examples/pi/cpp/src/main/cpp/robot.cpp b/examples/pi/cpp/src/main/cpp/robot.cpp new file mode 100644 index 00000000..a1275f7a --- /dev/null +++ b/examples/pi/cpp/src/main/cpp/robot.cpp @@ -0,0 +1,72 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +#include "Robot.h" + +#include + +#include + +constexpr bool testBool = false; + +void Robot::RobotInit() { + m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault); + m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom); + frc::SmartDashboard::PutData("Auto Modes", &m_chooser); +} + +/** + * This function is called every robot packet, no matter the mode. Use + * this for items like diagnostics that you want ran during disabled, + * autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ +void Robot::RobotPeriodic() {} + +/** + * This autonomous (along with the chooser code above) shows how to select + * between different autonomous modes using the dashboard. The sendable chooser + * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard, + * remove all of the chooser code and uncomment the GetString line to get the + * auto name from the text box below the Gyro. + * + * You can add additional auto modes by adding additional comparisons to the + * if-else structure below with additional strings. If using the SendableChooser + * make sure to add them to the chooser code above as well. + */ +void Robot::AutonomousInit() { + m_autoSelected = m_chooser.GetSelected(); + // m_autoSelected = SmartDashboard::GetString("Auto Selector", + // kAutoNameDefault); + std::cout << "Auto selected: " << m_autoSelected << std::endl; + + if (m_autoSelected == kAutoNameCustom) { + // Custom Auto goes here + } else { + // Default Auto goes here + } +} + +void Robot::AutonomousPeriodic() { + if (m_autoSelected == kAutoNameCustom) { + // Custom Auto goes here + } else { + // Default Auto goes here + } +} + +void Robot::TeleopInit() {} + +void Robot::TeleopPeriodic() {} + +void Robot::TestPeriodic() {} + +#ifndef RUNNING_FRC_TESTS +int main() { return frc::StartRobot(); } +#endif diff --git a/examples/pi/cpp/src/main/include/Robot.h b/examples/pi/cpp/src/main/include/Robot.h new file mode 100644 index 00000000..74a34970 --- /dev/null +++ b/examples/pi/cpp/src/main/include/Robot.h @@ -0,0 +1,30 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +#pragma once + +#include + +#include +#include + +class Robot : public frc::TimedRobot { + public: + void RobotInit() override; + void RobotPeriodic() override; + void AutonomousInit() override; + void AutonomousPeriodic() override; + void TeleopInit() override; + void TeleopPeriodic() override; + void TestPeriodic() override; + + private: + frc::SendableChooser m_chooser; + const std::string kAutoNameDefault = "Default"; + const std::string kAutoNameCustom = "My Auto"; + std::string m_autoSelected; +}; diff --git a/examples/pi/cpp/src/test/cpp/main.cpp b/examples/pi/cpp/src/test/cpp/main.cpp new file mode 100644 index 00000000..aa4f4b0e --- /dev/null +++ b/examples/pi/cpp/src/test/cpp/main.cpp @@ -0,0 +1,17 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +#include + +#include "gtest/gtest.h" + +int main(int argc, char** argv) { + HAL_Initialize(500, 0); + ::testing::InitGoogleTest(&argc, argv); + int ret = RUN_ALL_TESTS(); + return ret; +} diff --git a/examples/pi/java/.wpilib/wpilib_preferences.json b/examples/pi/java/.wpilib/wpilib_preferences.json new file mode 100644 index 00000000..84174315 --- /dev/null +++ b/examples/pi/java/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2020", + "teamNumber": 9999 +} diff --git a/examples/pi/java/README.md b/examples/pi/java/README.md new file mode 100644 index 00000000..962f13ea --- /dev/null +++ b/examples/pi/java/README.md @@ -0,0 +1,4 @@ +Java +--- + +This example involves building and deploying Java sources. This should be all you need to get started, however there are plenty of resources online for building more advanced java projects should you require. \ No newline at end of file diff --git a/examples/pi/java/build.gradle b/examples/pi/java/build.gradle new file mode 100644 index 00000000..f0f757d9 --- /dev/null +++ b/examples/pi/java/build.gradle @@ -0,0 +1,50 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2020.3.2" +} + +def ROBOT_MAIN_CLASS = "frc.team0000.robot.Main" + +// Define my targets (Pi) and artifacts (deployable files) +// This is added by GradleRIO's backing project EmbeddedTools. +deploy { + targets { + pi("pi") { + // 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 { + frcvisionJavaArtifact('frcJava') { + targets << "pi" + // Debug can be overridden by command line, for use with VSCode + debug = frc.getDebugOrDefault(false) + } + } +} + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 4. +dependencies { + implementation wpi.deps.wpilib() + nativeVisionZip wpi.deps.wpilibJni(wpi.platforms.raspbian) + nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) + + + implementation wpi.deps.vendor.java() + nativeVisionZip wpi.deps.vendor.jni(wpi.platforms.raspbian) + nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) + + testImplementation 'junit:junit:4.12' +} + +// 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) +} diff --git a/examples/pi/java/gradle/wrapper/gradle-wrapper.jar b/examples/pi/java/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..cc4fdc293d0e50b0ad9b65c16e7ddd1db2f6025b GIT binary patch literal 58702 zcma&OV~}W3vL#%;<*Hk@ZQHhO+qTVHwr$(CZQFL$+?np4n10i5zVAmKMC6WrGGd+F zD|4@NHj-D$z)bJV;MYNJ&!D%)v-fQ%q0JG$_z5GVUJTPg0MHPf1TvicY#6DXYBBQ4M`$iC~gA;06+%@0HFQPLj-JXogAJ1j+fRqw^4M` zcW^RxAfl%+w9SiS>QwBUTAfuFAjPXc2DHf6*sr+V+jLQj^m@DQgHTPmAb@F z8%GyCfcQkhWWlT31%4$PtV4tV*LI?J#C4orYI~WU(cSR{aEs^ycxY`1>j1po>yDMi zh4W$pMaecV*mCsOsPLxQ#Xc!RXhpXy*p3S2Hl8t}H7x#p5V6G5va4jV;5^S^+>+x&#zzv4!R}wB;)TyU zE_N~}nN>DTG+uZns%_eI=DL1E#<--Sccx30gvMT}^eu`2-u|{qQZ58(rA2aBYE*ZD 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00000000..2fe81a7d --- /dev/null +++ b/examples/pi/java/gradlew @@ -0,0 +1,183 @@ +#!/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 +## +############################################################################## + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >/dev/null +APP_HOME="`pwd -P`" +cd "$SAVED" >/dev/null + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn () { + echo "$*" +} + +die () { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; + NONSTOP* ) + nonstop=true + ;; +esac + +CLASSPATH=$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 + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# 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"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + 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" ;; + esac +fi + +# Escape application args +save () { + for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done + echo " " +} +APP_ARGS=`save "$@"` + +# 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" + +exec "$JAVACMD" "$@" diff --git a/examples/pi/java/gradlew.bat b/examples/pi/java/gradlew.bat new file mode 100644 index 00000000..24467a14 --- /dev/null +++ b/examples/pi/java/gradlew.bat @@ -0,0 +1,100 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +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="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto init + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto init + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +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% + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/examples/pi/java/settings.gradle b/examples/pi/java/settings.gradle new file mode 100644 index 00000000..cfdd4a97 --- /dev/null +++ b/examples/pi/java/settings.gradle @@ -0,0 +1,27 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2020' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} diff --git a/examples/pi/java/src/main/java/frc/team0000/robot/Main.java b/examples/pi/java/src/main/java/frc/team0000/robot/Main.java new file mode 100644 index 00000000..96b792ad --- /dev/null +++ b/examples/pi/java/src/main/java/frc/team0000/robot/Main.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.team0000.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. + * Unless you know what you are doing, do not modify this file except to + * change the parameter class to the startRobot call. + */ +public final class Main { + private Main() { + } + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/examples/pi/java/src/main/java/frc/team0000/robot/Robot.java b/examples/pi/java/src/main/java/frc/team0000/robot/Robot.java new file mode 100644 index 00000000..277e3d07 --- /dev/null +++ b/examples/pi/java/src/main/java/frc/team0000/robot/Robot.java @@ -0,0 +1,90 @@ +package frc.team0000.robot; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +/** + * The VM is configured to automatically run this class, and to call the + * functions corresponding to each mode, as described in the TimedRobot + * documentation. If you change the name of this class or the package after + * creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private static final String kDefaultAuto = "Default"; + private static final String kCustomAuto = "My Auto"; + private String m_autoSelected; + private final SendableChooser m_chooser = new SendableChooser<>(); + + /** + * This function is run when the robot is first started up and should be + * used for any initialization code. + */ + @Override + public void robotInit() { + m_chooser.setDefaultOption("Default Auto", kDefaultAuto); + m_chooser.addOption("My Auto", kCustomAuto); + SmartDashboard.putData("Auto choices", m_chooser); + } + + /** + * This function is called every robot packet, no matter the mode. Use + * this for items like diagnostics that you want ran during disabled, + * autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() { + } + + /** + * This autonomous (along with the chooser code above) shows how to select + * between different autonomous modes using the dashboard. The sendable + * chooser code works with the Java SmartDashboard. If you prefer the + * LabVIEW Dashboard, remove all of the chooser code and uncomment the + * getString line to get the auto name from the text box below the Gyro + * + *

You can add additional auto modes by adding additional comparisons to + * the switch structure below with additional strings. If using the + * SendableChooser make sure to add them to the chooser code above as well. + */ + @Override + public void autonomousInit() { + m_autoSelected = m_chooser.getSelected(); + // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto); + System.out.println("Auto selected: " + m_autoSelected); + } + + /** + * This function is called periodically during autonomous. + */ + @Override + public void autonomousPeriodic() { + switch (m_autoSelected) { + case kCustomAuto: + // Put custom auto code here + break; + case kDefaultAuto: + default: + // Put default auto code here + break; + } + } + + /** + * This function is called periodically during operator control. + */ + @Override + public void teleopPeriodic() { + } + + /** + * This function is called periodically during test mode. + */ + @Override + public void testPeriodic() { + } +} diff --git a/src/main/groovy/edu/wpi/first/gradlerio/GradleRIOPlugin.groovy b/src/main/groovy/edu/wpi/first/gradlerio/GradleRIOPlugin.groovy index ec3ee19e..a2ea9da6 100644 --- a/src/main/groovy/edu/wpi/first/gradlerio/GradleRIOPlugin.groovy +++ b/src/main/groovy/edu/wpi/first/gradlerio/GradleRIOPlugin.groovy @@ -4,6 +4,7 @@ import edu.wpi.first.gradlerio.caching.WrapperInspector import edu.wpi.first.gradlerio.frc.FRCPlugin import edu.wpi.first.gradlerio.frc.RoboRIO import edu.wpi.first.gradlerio.ide.ClionPlugin +import edu.wpi.first.gradlerio.frcvision.FRCVisionPlugin import edu.wpi.first.gradlerio.ide.IDEPlugin import edu.wpi.first.gradlerio.test.TestPlugin import edu.wpi.first.gradlerio.wpi.WPIPlugin @@ -44,6 +45,9 @@ class GradleRIOPlugin implements Plugin { // Native libraries have their own dependency management system project.configurations.maybeCreate("nativeLib") project.configurations.maybeCreate("nativeZip") + + project.configurations.maybeCreate("nativeVisionLib") + project.configurations.maybeCreate("nativeVisionZip") project.configurations.maybeCreate("nativeDesktopLib") project.configurations.maybeCreate("nativeDesktopZip") @@ -56,6 +60,7 @@ class GradleRIOPlugin implements Plugin { project.pluginManager.apply(EmbeddedTools) project.pluginManager.apply(FRCPlugin) + project.pluginManager.apply(FRCVisionPlugin) project.pluginManager.apply(WPIPlugin) project.pluginManager.apply(ClionPlugin) project.pluginManager.apply(IDEPlugin) diff --git a/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionCompatibleTarget.groovy b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionCompatibleTarget.groovy new file mode 100644 index 00000000..c59cfbc3 --- /dev/null +++ b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionCompatibleTarget.groovy @@ -0,0 +1,9 @@ +package edu.wpi.first.gradlerio.frcvision + +import groovy.transform.CompileStatic +import groovy.transform.InheritConstructors +import jaci.gradle.deploy.target.RemoteTarget + +@CompileStatic +@InheritConstructors +abstract class FRCVisionCompatibleTarget extends RemoteTarget { } diff --git a/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionJavaArtifact.groovy b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionJavaArtifact.groovy new file mode 100644 index 00000000..4ef5e5b2 --- /dev/null +++ b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionJavaArtifact.groovy @@ -0,0 +1,94 @@ +package edu.wpi.first.gradlerio.frcvision + +import com.google.gson.GsonBuilder +import groovy.transform.CompileStatic +import javax.inject.Inject +import jaci.gradle.PathUtils +import jaci.gradle.ActionWrapper +import jaci.gradle.deploy.artifact.JavaArtifact +import jaci.gradle.deploy.context.DeployContext +import jaci.gradle.deploy.sessions.IPSessionController +import org.gradle.api.Project + +@CompileStatic +class FRCVisionJavaArtifact extends JavaArtifact { + + @Inject + FRCVisionJavaArtifact(String name, Project project) { + super(name, project) + setJar('jar') + + predeploy << new ActionWrapper({ DeployContext ctx -> + ctx.execute("rw ; sudo svc -d /service/camera") + }) + + postdeploy << new ActionWrapper({ DeployContext ctx -> + def binFile = PathUtils.combine(ctx.workingDir, filename ?: file.get().name) + ctx.execute("chmod +x /home/pi/runCamera") + ctx.execute("chmod +x \"${binFile}\"") + ctx.execute("sync") + ctx.execute("ldconfig") + ctx.execute("ro") + ctx.execute("/home/pi/runService") + }); + } + + List jvmArgs = [] + List arguments = [] + boolean debug = false + int debugPort = 8349 + String debugFlags = "-XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=0.0.0.0:${debugPort},server=y,suspend=y" + + def runCommand = { + "!/bin/sh\necho \"Waiting 5 seconds...\"\nsleep 5\nexec env LD_LIBRARY_PATH=${FRCVisionPlugin.LIB_DEPLOY_DIR} java -Djava.library.path=${FRCVisionPlugin.LIB_DEPLOY_DIR} ${jvmArgs.join(" ")} ${debug ? debugFlags : ""} -jar \"<>\" ${arguments.join(" ")}" + } + + @Override + void deploy(DeployContext ctx) { + super.deploy(ctx) + + if (runCommand) { + String rCmd = null + if (runCommand instanceof Closure) + rCmd = (runCommand as Closure).call([ctx, this]).toString() + else if (runCommand instanceof String) + rCmd = (runCommand as String) + + if (rCmd != null) { + def binFile = PathUtils.combine(ctx.workingDir, filename ?: file.get().name) + rCmd = rCmd.replace('<>', binFile) + ctx.execute("echo '${rCmd}' > /home/pi/runCamera") + } + } + def conffile = new File(project.buildDir, "debug/${name}_${ctx.deployLocation.target.name}.debugconfig") + + if (debug) { + conffile.parentFile.mkdirs() + + ctx.logger.withLock { + ctx.logger.log("====================================================================") + ctx.logger.log("DEBUGGING ACTIVE ON PORT ${debugPort}!") + ctx.logger.log("====================================================================") + } + + if (ctx.controller instanceof IPSessionController) { + def ip = (IPSessionController)ctx.controller + def target = ip.getHost() + ":" + debugPort + def dbcfg = [ + target : target, + ipAddress: ip.getHost(), + port : debugPort + ] + + def gbuilder = new GsonBuilder() + gbuilder.setPrettyPrinting() + conffile.text = gbuilder.create().toJson(dbcfg) + } else { + ctx.logger.log("Session Controller isn't IP Compatible. No debug file written.") + } + } else { + // Not debug, remove debug files + if (conffile.exists()) conffile.delete() + } + } +} diff --git a/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionNativeArtifact.groovy b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionNativeArtifact.groovy new file mode 100644 index 00000000..572ce1f6 --- /dev/null +++ b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionNativeArtifact.groovy @@ -0,0 +1,201 @@ +package edu.wpi.first.gradlerio.frcvision + +import com.google.gson.GsonBuilder +import edu.wpi.first.toolchain.NativePlatforms +import edu.wpi.first.toolchain.ToolchainExtension +import edu.wpi.first.toolchain.raspbian.RaspbianToolchainPlugin +import groovy.transform.CompileStatic +import jaci.gradle.PathUtils +import javax.inject.Inject +import jaci.gradle.ActionWrapper +import jaci.gradle.deploy.artifact.BinaryLibraryArtifact +import jaci.gradle.deploy.artifact.NativeArtifact +import jaci.gradle.deploy.context.DeployContext +import jaci.gradle.deploy.sessions.IPSessionController +import jaci.gradle.nativedeps.DelegatedDependencySet +import org.gradle.api.Project +import org.gradle.internal.os.OperatingSystem +import org.gradle.language.nativeplatform.HeaderExportingSourceSet +import org.gradle.nativeplatform.NativeBinarySpec +import org.gradle.nativeplatform.NativeDependencySet +import org.gradle.process.ExecSpec + +import java.nio.file.Paths + +@CompileStatic +class FRCVisionNativeArtifact extends NativeArtifact { + + @Inject + FRCVisionNativeArtifact(String name, Project project) { + super(name, project) + targetPlatform = NativePlatforms.raspbian + + predeploy << new ActionWrapper({ DeployContext ctx -> + def binFile = PathUtils.combine(ctx.workingDir, filename ?: file.get().name) + ctx.execute("rw ; sudo svc -d /service/camera") + ctx.execute("rm -f \"${binFile}\"") + }) + + postdeploy << new ActionWrapper({ DeployContext ctx -> + def binFile = PathUtils.combine(ctx.workingDir, filename ?: file.get().name) + ctx.execute("chmod +x /home/pi/runCamera") + ctx.execute("chmod +x \"${binFile}\"") + ctx.execute("sync") + ctx.execute("ldconfig") + ctx.execute("ro") + ctx.execute("/home/pi/runService") + }) + + buildType = '<>' + } + + List arguments = [] + boolean debug = false + int debugPort = 8348 + + def runCommand = { DeployContext ctx, FRCVisionNativeArtifact self -> + "${self.debug ? "gdbserver host:${self.debugPort}" : ''} \"<>\" ${self.arguments.join(" ")}" + } + + NativeBinarySpec _bin + + @Override + String getBuildType() { + def sup = super.getBuildType() + if (!sup.equals('<>')) + return sup + + return debug ? 'debug' : 'release' + } + + @Override + void configureLibsArtifact(BinaryLibraryArtifact bla) { + super.configureLibsArtifact(bla) + bla.setDirectory(FRCVisionPlugin.LIB_DEPLOY_DIR) + bla.postdeploy << new ActionWrapper({ DeployContext ctx -> + FRCVisionPlugin.ownDirectory(ctx, FRCVisionPlugin.LIB_DEPLOY_DIR) + ctx.execute('ldconfig') + }) + } + + @Override + void deploy(DeployContext ctx) { + super.deploy(ctx) + + if (runCommand) { + String rCmd = null + if (runCommand instanceof Closure) + rCmd = (runCommand as Closure).call([ctx, this]).toString() + else if (runCommand instanceof String) + rCmd = (runCommand as String) + + if (rCmd != null) { + def binFile = PathUtils.combine(ctx.workingDir, filename ?: file.get().name) + rCmd = rCmd.replace('<>', binFile) + ctx.execute("echo '${rCmd}' > /home/pi/runCamera") + } + } + def isWin = OperatingSystem.current().isWindows() + + def filebasename = "${name}_${ctx.deployLocation.target.name}" + def conffile = new File(project.buildDir, "debug/${filebasename}.debugconfig") + def gdbfile = new File(project.buildDir, "debug/${filebasename}.gdbcommands") + def cmdfile = new File(project.buildDir, "debug/${filebasename}${isWin ? ".bat" : ""}") + + if (debug) { + conffile.parentFile.mkdirs() + + ctx.logger.withLock { + ctx.logger.log("====================================================================") + ctx.logger.log("DEBUGGING ACTIVE ON PORT ${debugPort}!") + ctx.logger.log("Launch debugger with ${isWin ? "" : "./"}${Paths.get(project.rootDir.toURI()).relativize(Paths.get(cmdfile.toURI())).toString()}") + ctx.logger.log("====================================================================") + } + + // Setup + + def srcpaths = [] + def headerpaths = [] + def libpaths = [] + def debugpaths = [] + def libsrcpaths = [] + + _bin.inputs.withType(HeaderExportingSourceSet) { HeaderExportingSourceSet ss -> + srcpaths += ss.source.srcDirs + srcpaths += ss.exportedHeaders.srcDirs + } + _bin.libs.each { NativeDependencySet ds -> + headerpaths += ds.includeRoots + libpaths += ds.runtimeFiles.files + if (ds instanceof DelegatedDependencySet) { + libsrcpaths += (ds as DelegatedDependencySet).getSourceFiles() + debugpaths += (ds as DelegatedDependencySet).getDebugFiles() + } + } + + if (ctx.controller instanceof IPSessionController) { + def ip = (IPSessionController)ctx.controller + def filepath = file.get().absolutePath.replaceAll("\\\\", "/") + def target = ip.host + ":" + debugPort +// def toolchainD = project.plugins.getPlugin(WPIToolchainPlugin.class).discoverRaspbianToolchain() + + def toolchainD = project.extensions.getByType(ToolchainExtension).toolchainDescriptors.getByName(RaspbianToolchainPlugin.toolchainName).discover() + def gdbpath = toolchainD.gdbFile().get().absolutePath + def sysroot = toolchainD.sysroot().orElse(null).absolutePath + + // .debugconfig + + def dbcfg = [ + launchfile : filepath, + target : target, + gdb : gdbpath, + sysroot : sysroot, + srcpaths : (srcpaths as List).collect { it.absolutePath }, + headerpaths: (headerpaths as List).collect { it.absolutePath }, + libpaths : (libpaths as List).collect { it.absolutePath }, + debugpaths : (debugpaths as List).collect {it.absolutePath }, + libsrcpaths: (libsrcpaths as List).collect { it.absolutePath }, + arch : "elf32-littlearm", + component : this.component + ] + + def gbuilder = new GsonBuilder() + gbuilder.setPrettyPrinting() + conffile.text = gbuilder.create().toJson(dbcfg) + + // .gdbcommands + + def init_commands = [ + 'set gnutarget elf32-littlearm', + "file ${filepath}".toString(), + "target remote ${target}".toString() + ] as List + + if (sysroot != null) init_commands += ["set sysroot \"${sysroot}\""] as List + init_commands += srcpaths.collect { "dir \"${it}\"" } as List + init_commands += headerpaths.collect { "dir \"${it}\"" } as List + + def cmdline = [ + gdbpath, "-ix=\"${gdbfile.absolutePath.replaceAll("\\\\", "/")}\"" + ] + + gdbfile.text = init_commands.join('\n') + cmdfile.text = cmdline.join(" ") + + if (OperatingSystem.current().isUnix()) { + project.exec { ExecSpec spec -> + spec.commandLine "chmod" + spec.args("0755", cmdfile.absolutePath) + } + } + } else { + ctx.logger.log("Session Controller isn't IP Compatible. No debug file written.") + } + } else { + // Not debug, clear debug files + if (conffile.exists()) conffile.delete() + if (gdbfile.exists()) gdbfile.delete() + if (cmdfile.exists()) cmdfile.delete() + } + } +} diff --git a/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionNativeLibraryArtifact.groovy b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionNativeLibraryArtifact.groovy new file mode 100644 index 00000000..b518c608 --- /dev/null +++ b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionNativeLibraryArtifact.groovy @@ -0,0 +1,27 @@ +package edu.wpi.first.gradlerio.frcvision + +import edu.wpi.first.toolchain.NativePlatforms +import groovy.transform.CompileStatic +import jaci.gradle.ActionWrapper +import javax.inject.Inject +import jaci.gradle.deploy.artifact.NativeArtifact +import jaci.gradle.deploy.context.DeployContext +import org.gradle.api.Project + +@CompileStatic +class FRCVisionNativeLibraryArtifact extends NativeArtifact { + + @Inject + FRCVisionNativeLibraryArtifact(String name, Project project) { + super(name, project) + targetPlatform = NativePlatforms.raspbian + + directory = FRCVisionPlugin.LIB_DEPLOY_DIR + + postdeploy << new ActionWrapper({ DeployContext ctx -> + FRCVisionPlugin.ownDirectory(ctx, FRCVisionPlugin.LIB_DEPLOY_DIR) + ctx.execute("ldconfig") + }) + } + +} diff --git a/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionPlugin.groovy b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionPlugin.groovy new file mode 100644 index 00000000..5af91619 --- /dev/null +++ b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/FRCVisionPlugin.groovy @@ -0,0 +1,124 @@ +package edu.wpi.first.gradlerio.frcvision + +import groovy.transform.CompileStatic +import jaci.gradle.EmbeddedTools +import jaci.gradle.deploy.DeployExtension +import jaci.gradle.deploy.artifact.Artifact +import jaci.gradle.ActionWrapper +import jaci.gradle.deploy.artifact.ArtifactDeployTask +import jaci.gradle.deploy.artifact.CommandArtifact +import jaci.gradle.deploy.artifact.JavaArtifact +import jaci.gradle.deploy.context.DeployContext +import org.gradle.api.Action +import org.gradle.api.Plugin +import org.gradle.api.Project +import org.gradle.api.Task +import org.gradle.api.plugins.ExtensionAware +import org.gradle.api.plugins.ExtensionContainer +import org.gradle.api.tasks.util.PatternFilterable +import org.gradle.model.ModelMap +import org.gradle.model.RuleSource +import org.gradle.nativeplatform.NativeBinarySpec +import org.gradle.platform.base.BinaryTasks +import edu.wpi.first.gradlerio.frc.ConfigurationArtifact + +import java.util.function.Function + +@CompileStatic +class FRCVisionPlugin implements Plugin { + + Project project + + public static final String LIB_DEPLOY_DIR = '/usr/local/frc/third-party/lib' + + @Override + void apply(Project project) { + this.project = project + project.pluginManager.apply(EmbeddedTools) + + project.afterEvaluate { + addNativeLibraryArtifacts(project) + } + + def deployExtension = project.extensions.getByType(DeployExtension) + def artifactExtensionAware = deployExtension.artifacts as ExtensionAware + def targetExtensionAware = deployExtension.targets as ExtensionAware + def artifactExtension = deployExtension.artifacts + def targetExtension = deployExtension.targets + + artifactExtensionAware.extensions.add('frcvisionJavaArtifact', { String name, Closure closure-> + return artifactExtension.artifact(name, FRCVisionJavaArtifact, new ActionWrapper(closure)) + }) + + artifactExtensionAware.extensions.add('frcvisionNativeArtifact', { String name, Closure closure-> + return artifactExtension.artifact(name, FRCVisionNativeArtifact, new ActionWrapper(closure)) + }) + + artifactExtensionAware.extensions.add('frcvisionNativeLibraryArtifact', { String name, Closure closure-> + return artifactExtension.artifact(name, FRCVisionNativeLibraryArtifact, new ActionWrapper(closure)) + }) + + targetExtensionAware.extensions.add('pi', { String name, Closure closure -> + targetExtension.target(name, Pi, new ActionWrapper(closure)) + }) + + targetExtensionAware.extensions.add('frcvisionCompatibleTarget', { String name, Closure closure -> + targetExtension.target(name, FRCVisionCompatibleTarget, new ActionWrapper(closure)) + }) + } + + public static void ownDirectory(DeployContext ctx, String directory) { + ctx.execute("sudo chmod -R 777 \"$directory\" || true; sudo chown -R pi:pi \"$directory\"") + } + + public static DeployExtension deployExtension(Project project) { + return project.extensions.getByType(DeployExtension) + } + + public static void allFrcVisionTargets(DeployExtension ext, Artifact artifact) { + ext.targets.withType(FRCVisionCompatibleTarget).all { Pi r -> + artifact.targets << r.name + } + } + + void addNativeLibraryArtifacts(Project project) { + // Note: These include JNI. Actual native c/c++ is done through EmbeddedTools + def nativeLibs = project.configurations.getByName('nativeVisionLib') + def nativeZips = project.configurations.getByName('nativeVisionZip') + + def dext = deployExtension(project) + dext.artifacts.artifact('nativeVisionLibs', ConfigurationArtifact) { ConfigurationArtifact artifact -> + allFrcVisionTargets(dext, artifact) + artifact.configuration = nativeLibs + artifact.zipped = false + } + + dext.artifacts.artifact('nativeVisionZip', ConfigurationArtifact) { ConfigurationArtifact artifact -> + allFrcVisionTargets(dext, artifact) + artifact.configuration = nativeZips + artifact.zipped = true + artifact.filter = { PatternFilterable pat -> + pat.include('*.so*', 'lib/*.so', 'java/lib/*.so', 'linux/raspbian/shared/*.so', 'linuxraspbian/**/*.so', '**/libopencv*.so.*') + } + } + } + + static class FRCVisionRules extends RuleSource { + @BinaryTasks + void createNativeLibraryDeployTasks(final ModelMap tasks, final ExtensionContainer ext, final NativeBinarySpec binary) { + def deployExt = ext.getByType(DeployExtension) + def artifacts = deployExt.artifacts + + deployExt.artifacts + .withType(FRCVisionNativeArtifact) + .matching { FRCVisionNativeArtifact art -> + art.component.equalsIgnoreCase(binary.component.name) && + art.targetPlatform.equalsIgnoreCase(binary.targetPlatform.name) + } + .all { FRCVisionNativeArtifact art -> + art._bin = binary + } + } + } + +} diff --git a/src/main/groovy/edu/wpi/first/gradlerio/frcvision/Pi.groovy b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/Pi.groovy new file mode 100644 index 00000000..46093013 --- /dev/null +++ b/src/main/groovy/edu/wpi/first/gradlerio/frcvision/Pi.groovy @@ -0,0 +1,107 @@ +package edu.wpi.first.gradlerio.frcvision + +import groovy.transform.CompileStatic +import jaci.gradle.deploy.context.DeployContext +import javax.inject.Inject +import jaci.gradle.deploy.target.location.SshDeployLocation +import org.apache.log4j.Logger +import org.gradle.api.Project +import edu.wpi.first.gradlerio.frc.InvalidImageException + +import java.util.regex.Matcher +import java.util.regex.Pattern + +@CompileStatic +class Pi extends FRCVisionCompatibleTarget { + + private Logger log; + + @Inject + Pi(String name, Project project) { + super(name, project) + log = Logger.getLogger(this.toString()) + + this.directory = '/home/pi' + + this.maxChannels = 4 + + this.onlyIf = { DeployContext ctx -> + verifyOnlyIf(ctx) + } + } + + void setTeam(int team) { + setAddresses( + "raspberrypi.local".toString(), // Default mDNS + "10.${(int)(team / 100)}.${team % 100}.11".toString(), // 10.TE.AM.11 (default static IP) + + // Remaining cases are for weird environments, like a home network, practice field or otherwise. + "frcvision".toString(), // Default DNS + "frcvision.lan".toString(), // LAN mDNS/DNS + "frcvision.frc-field.local".toString() // Practice Field mDNS + ) + } + + void setAddresses(String... addresses) { + this.locations.clear() + addresses.each { String addr -> + this.addAddress(addr) + } + } + + void addAddress(String address) { + this.getLocations().location(SshDeployLocation) { SshDeployLocation loc -> + loc.setAddress(address) + loc.setIpv6(false) + loc.setUser("pi") + loc.setPassword("raspberry") + } + } + + boolean verifyOnlyIf(DeployContext ctx) { + ctx.logger.silent(true) + if (checkImage) { + log.info("Checking image...") + readAndVerifyImage(ctx); + } + return true + } + + void readAndVerifyImage(DeployContext context) { + final String imageFile = "/etc/rpi-issue" + final Pattern pattern = Pattern.compile("^FRCVision v([0-9a-zA-Z.-]+).*") + + String content = context.execute("cat ${imageFile}") + log.info("Received Image File: ") + log.info(content) + + boolean imageFound = false + content.split("\n").each { String line -> + log.info(line) + Matcher matcher = pattern.matcher(line.trim()) + if (matcher.matches()) { + String imageGroup = matcher.group(1) + log.info("Matched version: " + imageGroup) + verifyImageVersion(imageGroup) + imageFound = true + } + } + + if (!imageFound) { + throw new InvalidImageException() + } + } + + boolean checkImage = false + List validImageVersions = [] + + void verifyImageVersion(String image) { + if (!validImageVersions.contains(image)) + throw new InvalidImageException(image, validImageVersions) + } + + @Override + String toString() { + return "Pi[${name}]".toString() + } +} diff --git a/src/main/groovy/edu/wpi/first/gradlerio/wpi/WPIPlugin.groovy b/src/main/groovy/edu/wpi/first/gradlerio/wpi/WPIPlugin.groovy index 8e097808..92b5c6b7 100644 --- a/src/main/groovy/edu/wpi/first/gradlerio/wpi/WPIPlugin.groovy +++ b/src/main/groovy/edu/wpi/first/gradlerio/wpi/WPIPlugin.groovy @@ -41,6 +41,7 @@ class WPIPlugin implements Plugin { NativeUtilsExtension nte = project.extensions.getByType(NativeUtilsExtension) nte.withRoboRIO() + nte.withRaspbian() nte.addWpiNativeUtils() ToolchainExtension te = project.extensions.getByType(ToolchainExtension)