Squashed 'third_party/allwpilib_2019/' changes from 936627bd9..a3f7420da
e20d96ea4 Use __has_include for WPILib.h (#2164)
a76d006a0 Update native-utils to 2020.7.2 (#2161)
24c031d69 Increase SPI auto byte count to allow 32 bytes to be sent (#2163)
6b4eecf5f Add hidden functions to get the SPI system and SPI DMA (#2162)
ccdd0fbdb Add TrapezoidProfile external PID examples (#2131)
5c6b8a0f4 Replace std::is_pod_v with std::is_standard_layout_v (#2159)
67d2fed68 Add DutyCycleEncoder channel constructor (#2158)
d8f11eb14 Hardcode channels for LSB weight (#2153)
b2ae75acd Add way to disable "no extensions found" message (#2134)
4f951789f Build testbench tests online inorder to improve speed (#2144)
005c4c5be Try catch around task dependencies to fix loading in editor (#2156)
34f6b3f4c Fix C++ RamseteCommand param doxygen (#2157)
f7a93713f Fix up templated TrapezoidProfile classes (#2151)
8c2ff94d7 Rename MathUtils to MathUtil for consistency with other util classes (#2155)
d003ec2dc Update to 2020v9 image (#2154)
8e7cc3fe7 Add user-friendly SimDeviceSim wrappers (#2150)
6c8f6cf47 Fix bug in cubic and quintic hermetic spline generation (#2139)
e37ecd33a Sim GUI: Add support for LED displays (#2138)
57c5523d6 Fix documentation in RamseteCommand (#2149)
7b9c6ebc2 Fix wpiutilJNIShared linkage typo in wpilibj (#2143)
9a515c80f Template C++ LinearFilter to work with unit types (#2142)
5b73c17f2 Remove encoder velocities methods in DifferentialDriveOdometry (#2147)
b8c102426 Fix PS3Eye VID and PID (#2146)
2622c6c29 Add default values for b and zeta in RamseteController (#2145)
f66ae5999 Add HSV helpers to AddressableLED (#2135)
5e97c81d8 Add MedianFilter class for moving-window median (#2136)
f79b7a058 Remove unnecessary constructor arg for LinearFilter's circular buffers (#2140)
e49494830 Replace Jenkins with Azure agent (#1914)
b67d049ac Check status of PDP CAN reads (#2126)
70102a60b SendableRegistry.foreachLiveWindow: Prevent concurrent modification (#2129)
6dcd2b0e2 Improve various subsystem APIs (#2130)
ce3973435 HAL_CAN_ReceiveMessage: return MessageNotFound if no callbacks registered (#2133)
3fcfc8ea7 Fix double disable segfaulting interrupts (#2132)
6ceafe3cd Fix class reference for logger (#2123)
b058dcf64 Catch exceptions generated by OpenCV in cscore JNI (#2118)
0b9307fdf Remove unused parts of .styleguide files (#2119)
39be812b2 Fix C++ ArmFeedforward (#2120)
21e957ee4 Add DifferentialDrive voltage constraint (#2075)
e0bc97f66 Add ProfiledPIDSubsystem example (#2076)
3df44c874 Remove Rotation2d.h wpi/math include (#2117)
a58dbec8a Add holonomic follower examples (#2052)
9a8067465 Fix incomplete .styleguide (#2113)
ffa4b907c Fix C++ floating point literal formatting (#2114)
3d1ca856b Fix missing typename and return type (#2115)
5f85457a9 Add usage reporting for AddressableLED (#2108)
4ebae1712 Enforce leading/trailing zeros in Java numeric constants (#2105)
fa85fbfc1 Template C++ TrapezoidProfile and ProfiledPIDController on units (#2109)
f62e23f1a Add Doxygen for new HAL interfaces (#2110)
5443fdabc Directly construct PWM port from HAL, avoid wpilib PWM object (#2106)
c0e36df9d Standardize on PWMVictorSPX in examples (#2104)
8c4d9f541 Add TrapezoidProfileSubsystem (#2077)
45201d15f Add encoder distance overload to DifferentialDriveOdometry (#2096)
845aba33f Make feedforward classes constexpr (#2103)
500c43fb8 Add examples for DMA, DutyCycle, DutyCycleEncoder and AddressableLED (#2100)
589162811 Use DifferentialDriveWheelSpeeds in RamseteCommand ctor (#2091)
b37b68daa Add JRE deployment to MyRobot Deploy (#2099)
0e83c65d2 Fix small logic error in ParallelDeadlineGroup (#2095)
6f6c6da9f Updates to addressable LED (#2098)
1894219ef Fix devmain package in commands (#2097)
77a9949bb Add AddressableLED simulation GUI support
a4c9e4ec2 Add AddressableLED simulation support
8ed205907 Add AddressableLED (#2092)
59507b12d Bump to 2020 v7 image (#2086)
5d39bf806 Make halsimgui::DrawLEDs() values parameter const (#2088)
841ef91c0 Use gyro angle instead of robot angle for odometry (#2081)
1b66ead49 Use standard constant for pi instead of 3.14 (#2084)
db2c3dddd Use DMA Global Number for DMA Index (#2085)
82b2170fe Add DMA support to HAL and WPILibC (#2080)
8280b7e3a Add DutyCycleEncoder and AnalogEncoder (#2040)
551096006 Use kNumSystems for DutyCycle count in Ports (#2083)
df1065218 Remove release configs of deploy in MyRobot (#2082)
bf5388393 Add deploy options to myRobot (#2079)
b7bc1ea74 Update to 2020v6 image (#2078)
708009cd2 Update to gradle 6.0 (#2074)
3cce61b89 Add SmartDashboard::GetEntry function in C++ (#2064)
565e1f3e7 Fix spelling in MecanumDriveOdometry docs (#2072)
1853f7b6b Add timing window to simulation GUI
c5a049712 Add simulation pause/resume/step support
f5446c740 Add Notifier HALSIM access
3e049e02f Add name to HAL Notifier
2da64d15f Make usage reporting enums type match (#2069)
f04d95e50 Make FRCUsageReporting.h C-compatible (#2070)
d748c67a5 Generate docs for command libraries and fix doclint enable (#2071)
55a7f2b4a Add template for old command-based style (#2031)
486fa9c69 Add XboxController examples for arcade and tank drive (#2058)
e3dd1c5d7 Fix small bug in SplineHelper (#2061)
7dc7c71b5 Add feedforward components (#2045)
5f33d6af1 Fix ProfiledPIDSubsystem parameter name (#2017)
94843adb8 Standardize documentation of Speed Controllers bounds (#2043)
9bcff37b9 Add HAL specific version of wpi_setError (#2055)
326aecc9a Add error message for CAN Write Overrun (#2062)
00228678d Add requirements param to more Command APIs (#2059)
ff39a96ce Make DigitalOutput a DigitalSource (#2054)
5ccad2e8a Fix frc2::Timer returning incorrect timestamp values (#2057)
629e95776 Add VendorDeps JSON files for command libraries (#2048)
6858a57f7 Make notifier command tests a lot more lenient (#2056)
0ebe32823 Fix MyRobotStatic accidentally linking to shared command libs (#2046)
384d00f9e Fix various duty cycle bugs (#2047)
1f6850adf Add CAN Manufacturer for Studica (#2050)
7508aada9 Add ability to end startCompetition() main loop (#2032)
f5b4be16d Old C++ Command: Make GetName et al public (#2042)
e6f5c93ab Clean up new C++ commands (#2027)
39f46ceab Don't allow rising and falling values to be read from AnalogTrigger (#2039)
d93aa2b6b Add missing lock in FRCDriverStation (#2034)
114ddaf81 Fix duplicate encoders in examples (#2033)
f22d0961e Sim GUI: Add duty cycle support
3262c2bad Sim GUI: Use new multi-channel PDP getter function
96d40192a Revert accidental change to MyRobot.cpp (#2029)
ed30d5d40 Add JSON support for Trajectories (#2025)
2b6811edd Fix null pointer dereference in C++ CommandScheduler (#2023)
1d695a166 Add FPGA Duty Cycle support (#1987)
509819d83 Split the two command implementations into separate libraries (#2012)
2ad15cae1 Add multi PDP getter and sim PCM/PDP multi arg functions (#2014)
931b8ceef Add new usage reporting types from 2020v5 (#2026)
0b3821eba Change files with CRLF line endings to LF (#2022)
6f159d142 Add way to atomically check for new data, and wait otherwise (#2015)
a769f1f22 Fix bug in RamseteCommand (using degrees instead of radians) (#2020)
c5186d815 Clean up PIDCommand (#2010)
9ebd23d61 Add setVoltage method to SpeedController (#1997)
f6e311ef8 Fix SplineHelper bug (#2018)
f33bd9f05 Fix NPE in RamseteCommand (#2019)
1c1e0c9a6 Add HAL_SetAllSolenoids to sim (#2004)
ea9bb651a Remove accidental OpenCV link from wpilibc shared library (#2013)
cc0742518 Change command decorators to return implementation (#2007)
16b34cce2 Remove IterativeRobot templates (#2011)
669127e49 Update intellisense to work with Beta 2020 code (#2008)
9dc30797e Fix usage reporting indices (#2009)
f6b844ea3 Move HAL Interrupt struct to anonymous namespace (#2003)
a72f80991 Add extern C to DigitalGlitchFilterJNI (#2002)
916596cb0 Fix invalid examples json, add validator (#2001)
5509a8e96 Use constexpr for all example constants
0be6b6475 Use constexpr for DifferentialDriveKinematics
Change-Id: I1416646cbab487ad8021830215766d8ec7f24ddc
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: a3f7420dab7a104c27a0c3bf0872c999c98fd9a9
diff --git a/shared/config.gradle b/shared/config.gradle
index 0173097..20ec083 100644
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -8,7 +8,7 @@
wpi {
configureDependencies {
wpiVersion = "-1"
- niLibVersion = "2020.5.1"
+ niLibVersion = "2020.9.1"
opencvVersion = "3.4.7-2"
googleTestVersion = "1.9.0-3-437e100"
imguiVersion = "1.72b-2"
@@ -90,9 +90,9 @@
configMap.each { key, value ->
def task = project.tasks.create(base + "-${key}", type) {
description = 'Creates component archive for platform ' + key
- destinationDir = outputsFolder
+ destinationDirectory = outputsFolder
classifier = key
- baseName = '_M_' + base
+ archiveBaseName = '_M_' + base
duplicatesStrategy = 'exclude'
from(licenseFile) {
diff --git a/shared/examplecheck.gradle b/shared/examplecheck.gradle
index 64a83c7..4e7bdc2 100644
--- a/shared/examplecheck.gradle
+++ b/shared/examplecheck.gradle
@@ -1,5 +1,5 @@
-def fileCheck = { file, folder ->
- def folderNames = new groovy.json.JsonSlurper().parseText(file.text).collect { it.foldername }
+def fileCheck = { parsedJson, folder ->
+ def folderNames = parsedJson.collect { it.foldername }
def folders = []
folder.eachDir {
folders << it.name
@@ -26,19 +26,57 @@
task checkTemplates(type: Task) {
doLast {
- fileCheck(templateFile, templateDirectory)
+ def parsedJson = new groovy.json.JsonSlurper().parseText(templateFile.text)
+ fileCheck(parsedJson, templateDirectory)
+ parsedJson.each {
+ assert it.name != null
+ assert it.description != null
+ assert it.tags != null
+ assert it.foldername != null
+ assert it.gradlebase != null
+ assert it.commandversion != null
+ if (it.gradlebase == 'java') {
+ assert it.mainclass != null
+ }
+ }
}
}
task checkExamples(type: Task) {
doLast {
- fileCheck(exampleFile, exampleDirectory)
+ def parsedJson = new groovy.json.JsonSlurper().parseText(exampleFile.text)
+ fileCheck(parsedJson, exampleDirectory)
+ parsedJson.each {
+ assert it.name != null
+ assert it.description != null
+ assert it.tags != null
+ assert it.foldername != null
+ assert it.gradlebase != null
+ assert it.commandversion != null
+ if (it.gradlebase == 'java') {
+ assert it.mainclass != null
+ }
+ }
}
}
task checkCommands(type: Task) {
doLast {
- fileCheck(commandFile, commandDirectory)
+ def parsedJson = new groovy.json.JsonSlurper().parseText(commandFile.text)
+ fileCheck(parsedJson, commandDirectory)
+ parsedJson.each {
+ assert it.name != null
+ assert it.description != null
+ assert it.tags != null
+ assert it.foldername != null
+ assert it.replacename != null
+ if (project.isCppCommands) {
+ assert it.headers != null
+ assert !it.headers.isEmpty()
+ assert it.source != null
+ assert !it.source.isEmpty()
+ }
+ }
}
}
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
index 4ade369..d83ead2 100644
--- a/shared/java/javacommon.gradle
+++ b/shared/java/javacommon.gradle
@@ -1,5 +1,5 @@
apply plugin: 'maven-publish'
-apply plugin: 'java'
+apply plugin: 'java-library'
//apply plugin: 'net.ltgt.errorprone'
apply plugin: 'jacoco'
@@ -20,21 +20,21 @@
}
task outputJar(type: Jar, dependsOn: classes) {
- baseName javaBaseName
- destinationDir outputsFolder
+ archiveBaseName = javaBaseName
+ destinationDirectory = outputsFolder
from sourceSets.main.output
}
task outputSourcesJar(type: Jar, dependsOn: classes) {
- baseName javaBaseName
- destinationDir outputsFolder
+ archiveBaseName = javaBaseName
+ destinationDirectory = outputsFolder
classifier = 'sources'
from sourceSets.main.allSource
}
task outputJavadocJar(type: Jar, dependsOn: javadoc) {
- baseName javaBaseName
- destinationDir outputsFolder
+ archiveBaseName = javaBaseName
+ destinationDirectory = outputsFolder
classifier = 'javadoc'
from javadoc.destinationDir
}
@@ -104,7 +104,7 @@
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.4.2'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
- devCompile sourceSets.main.output
+ devImplementation sourceSets.main.output
//errorprone 'com.google.errorprone:error_prone_core:2.3.2-SNAPSHOT'
//errorproneJavac 'com.google.errorprone:error_prone_core:2.3.1'
diff --git a/shared/java/javastyle.gradle b/shared/java/javastyle.gradle
index 6e4e261..eec3796 100644
--- a/shared/java/javastyle.gradle
+++ b/shared/java/javastyle.gradle
@@ -3,8 +3,8 @@
checkstyle {
toolVersion = "8.12"
- configDir = file("${project.rootDir}/styleguide")
- config = resources.text.fromFile(new File(configDir, "checkstyle.xml"))
+ configDirectory = file("${project.rootDir}/styleguide")
+ config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml"))
}
if (!project.hasProperty('skipPMD')) {
diff --git a/shared/javacpp/publish.gradle b/shared/javacpp/publish.gradle
index 1dafcbb..5002def 100644
--- a/shared/javacpp/publish.gradle
+++ b/shared/javacpp/publish.gradle
@@ -9,8 +9,8 @@
def licenseFile = file("$rootDir/license.txt")
task cppSourcesZip(type: Zip) {
- destinationDir = outputsFolder
- baseName = zipBaseName
+ destinationDirectory = outputsFolder
+ archiveBaseName = zipBaseName
classifier = "sources"
from(licenseFile) {
@@ -23,8 +23,8 @@
}
task cppHeadersZip(type: Zip) {
- destinationDir = outputsFolder
- baseName = zipBaseName
+ destinationDirectory = outputsFolder
+ archiveBaseName = zipBaseName
classifier = "headers"
from(licenseFile) {
diff --git a/shared/jni/publish.gradle b/shared/jni/publish.gradle
index e50f87e..765302a 100644
--- a/shared/jni/publish.gradle
+++ b/shared/jni/publish.gradle
@@ -11,8 +11,8 @@
def licenseFile = file("$rootDir/license.txt")
task cppSourcesZip(type: Zip) {
- destinationDir = outputsFolder
- baseName = zipBaseName
+ destinationDirectory = outputsFolder
+ archiveBaseName = zipBaseName
classifier = "sources"
duplicatesStrategy = 'exclude'
@@ -41,8 +41,8 @@
}
task cppHeadersZip(type: Zip) {
- destinationDir = outputsFolder
- baseName = zipBaseName
+ destinationDirectory = outputsFolder
+ archiveBaseName = zipBaseName
classifier = "headers"
from(licenseFile) {
diff --git a/shared/jni/setupBuild.gradle b/shared/jni/setupBuild.gradle
index 35f4cf2..7622d0e 100644
--- a/shared/jni/setupBuild.gradle
+++ b/shared/jni/setupBuild.gradle
@@ -17,8 +17,8 @@
dependencies {
if (!project.hasProperty('noWpiutil')) {
- compile project(':wpiutil')
- devCompile project(':wpiutil')
+ implementation project(':wpiutil')
+ devImplementation project(':wpiutil')
}
}
@@ -32,18 +32,6 @@
apply from: "${rootDir}/shared/googletest.gradle"
-if (project.hasProperty('niLibraries')) {
- ext {
- chipObjectComponents = ["$nativeName".toString(), "${nativeName}Dev".toString(), "${nativeName}Base".toString(),
- "${nativeName}JNI".toString(), "${nativeName}JNIShared".toString(), "${nativeName}Test".toString()]
- netCommComponents = ["$nativeName".toString(), "${nativeName}Dev".toString(), "${nativeName}Base".toString(),
- "${nativeName}JNI".toString(), "${nativeName}JNIShared".toString(), "${nativeName}Test".toString()]
- useNiJava = true
- }
-
- apply from: "${rootDir}/shared/nilibraries.gradle"
-}
-
model {
components {
"${nativeName}Base"(NativeLibrarySpec) {
@@ -211,6 +199,9 @@
if (!project.hasProperty('noWpiutil')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
}
+ if (nativeName == 'hal' && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+ nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
+ }
}
}
}
@@ -243,6 +234,9 @@
lib library: nativeName, linkage: 'shared'
if (!project.hasProperty('noWpiutil')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ if (nativeName == 'hal' && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+ nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
+ }
}
}
}
diff --git a/shared/nilibraries.gradle b/shared/nilibraries.gradle
deleted file mode 100644
index efb9cfc..0000000
--- a/shared/nilibraries.gradle
+++ /dev/null
@@ -1,10 +0,0 @@
-model {
- binaries {
- all {
- if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
- nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared')
- }
-
- }
- }
-}
diff --git a/shared/opencv.gradle b/shared/opencv.gradle
index 7a1dd0f..ca3764d 100644
--- a/shared/opencv.gradle
+++ b/shared/opencv.gradle
@@ -22,9 +22,9 @@
if (project.hasProperty('useJava') && project.useJava) {
dependencies {
- compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:${opencvVersion}"
+ implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:${opencvVersion}"
if (!project.hasProperty('skipDev') || !project.skipDev) {
- devCompile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:${opencvVersion}"
+ devImplementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:${opencvVersion}"
}
if (project.hasProperty('useDocumentation') && project.useDocumentation) {
javaSource "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:${opencvVersion}:sources"
diff --git a/shared/plugins/publish.gradle b/shared/plugins/publish.gradle
index 6f318b7..ec160ed 100644
--- a/shared/plugins/publish.gradle
+++ b/shared/plugins/publish.gradle
@@ -7,8 +7,8 @@
def outputsFolder = file("$project.buildDir/outputs")
task cppSourcesZip(type: Zip) {
- destinationDir = outputsFolder
- baseName = zipBaseName
+ destinationDirectory = outputsFolder
+ archiveBaseName = zipBaseName
classifier = "sources"
from(licenseFile) {
@@ -21,8 +21,8 @@
}
task cppHeadersZip(type: Zip) {
- destinationDir = outputsFolder
- baseName = zipBaseName
+ destinationDirectory = outputsFolder
+ archiveBaseName = zipBaseName
classifier = "headers"
from(licenseFile) {
diff --git a/shared/plugins/setupBuild.gradle b/shared/plugins/setupBuild.gradle
index 4feb8a9..af9b4c4 100644
--- a/shared/plugins/setupBuild.gradle
+++ b/shared/plugins/setupBuild.gradle
@@ -2,14 +2,6 @@
apply plugin: 'edu.wpi.first.NativeUtils'
apply plugin: ExtraTasks
-ext {
- chipObjectComponents = ["$pluginName".toString(), "${pluginName}Dev".toString(), "${pluginName}Test".toString()]
- netCommComponents = ["$pluginName".toString(), "${pluginName}Dev".toString(), "${pluginName}Test".toString()]
- useNiJava = false
-}
-
-apply from: "${rootDir}/shared/nilibraries.gradle"
-
if (!project.hasProperty('onlylinuxathena')) {
ext.skiplinuxathena = true
apply from: "${rootDir}/shared/config.gradle"
@@ -64,6 +56,9 @@
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
}
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+ nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
+ }
} else {
it.buildable = false
}