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build.gradle
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build.gradle
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plugins {
id "java"
id "cpp"
id "edu.wpi.first.GradleRIO" version "2024.3.2"
id 'edu.wpi.first.GradleJni' version '0.10.1'
}
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
def ROBOT_MAIN_CLASS = "frc.robot.Main"
// Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
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'
}
frcNativeLibraryArtifact('jniLibrary') {
targets << "roborio"
component = 'JNILibrary'
buildType = 'release'
}
}
}
// Set this to true to enable desktop support.
def includeDesktopSupport = true
// Simulation configuration (e.g. environment variables).
sim {
// Sets the websocket client remote host.
// envVar "HALSIMWS_HOST", "10.0.0.2"
}
model {
components {
JNILibrary(JniNativeLibrarySpec) {
targetPlatform wpi.platforms.roborio
if (includeDesktopSupport) {
targetPlatform wpi.platforms.desktop
}
enableCheckTask true
javaCompileTasks << compileJava
jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
sources {
cpp {
source {
srcDirs 'src/main/native/cpp'
include '**/*.cpp'
}
exportedHeaders {
srcDir 'src/main/native/include'
include '**/*.h'
}
}
}
wpi.useLibrary(it, 'driver_shared')
}
}
}
// 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.deps.vendor.java()
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
testImplementation 'junit:junit:4.12'
// 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.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
}