[all java] Add Java module support #7424
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This PR modifies commands. Please open a corresponding PR in Python Commands and include a link to this PR. |
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| module wpilib.commands2 { |
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Open discussion: wpilib.commands or wpilib.commands2? The module names already differ from the package names.
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commands2 makes sense if we plan on making a commands3, unless there's some way to version it separately. If we can use vendordep versioning and prevent users from installing two versions at once, we could just use commands.
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commands2 makes the most sense. We'll have a commands3 in 2027, and each version is essentially a completely different library so reusing the same module name wouldn't be practical (or likely even possible)
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That argument doesn't make sense to me. WPILib 2008 and 2024 look completely different, yet we still call it wpilibj. Major version numbers exist to represent things like major API refactors, so we should be using the major version for that instead of the library name itself.
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Because wpilib was changed gradually over time, without multiple incompatible versions concurrently being available for use. Commands v3 will probably be available side by side with v2 during a transition period
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That's the case for most libraries though, and they don't name their libraries like that. Giving them different names would allow users to use them both simultaneously, which we should explicitly disallow. Allowing that for v1 and v2 was a mistake due to the package naming confusion that introduced.
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An advantage of the numbered naming was that it made it very clear if classes were from v1 or v2.
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It’s actually quite common in Java to have versions in package names, sometimes as a subpackage name (eg commands.v1, commands.v2). The common recommendation however is to not put the version in the class name.
An older one was in the edu.wpi.first.math.util package, conflicting with the wpimath module
Single JAR means no split packages Depends on lessthanoptimal/ejml#203 and local EJML artifacts
Place generated files in their own package, to avoid splitting the epilogue package between the runtime and user code Explicitly scope CustomLoggerFor validations to TypeElements (would break on ModuleElements)
Otherwise, would probably need its own module to declare a `provides`
Need to disable modules for tests because the google compile testing library is not modularized
Resolves #7236
Non-modular Java dependencies (ejml, opencv) need a gradle plugin to add a module-info file to the JAR. I'm not sure if this is the correct approach, since those JARs won't be repacked and published for user programs to consume. Will need to test the artifacts to see if user programs will be broken