simulation/frc_gazebo_plugins/build.gradle

description = "A set of C++ plugins to interface the FRC Simulator with Gazebo."

apply plugin: 'edu.wpi.first.NativeUtils'
apply plugin: 'cpp'
apply plugin: "google-test"

ext.skiplinuxathena = true
ext.skiplinuxraspbian = true

apply from: "${rootDir}/shared/config.gradle"

/* If gz_msgs or gazebo is not available, do not attempt a build */
def gazebo_version = ""
def gazebo_cppflags = ""
def gazebo_linker_args = ""

try {
    gazebo_version = "pkg-config --modversion gazebo".execute().text.trim()
    println "Gazebo version is [${gazebo_version}]"
    gazebo_cppflags = "pkg-config --cflags gazebo".execute().text.split()
    gazebo_linker_args = "pkg-config --libs gazebo protobuf".execute().text.split()
} catch(Exception ex) { }

if (project.hasProperty("makeSim")) {
    if (!gazebo_version?.trim()) {
        println "Gazebo development files are not available. (pkg-config --modversion gazebo failed)"
        println "makeSim set. Forcing build - failure likely."
    }
} else {
    ext.skip_frc_plugins = true
    println "Skipping FRC Plugins."
}

evaluationDependsOn(":simulation:gz_msgs")
def gz_msgs_project = project(":simulation:gz_msgs")

tasks.whenTaskAdded { task ->
    task.onlyIf { !gz_msgs_project.hasProperty('skip_gz_msgs') && !project.hasProperty('skip_frc_plugins') }
}

model {
    components {
        clock(NativeLibrarySpec)
        dc_motor(NativeLibrarySpec)
        encoder(NativeLibrarySpec)
        gyro(NativeLibrarySpec)
        limit_switch(NativeLibrarySpec)
        potentiometer(NativeLibrarySpec)
        pneumatic_piston(NativeLibrarySpec)
        rangefinder(NativeLibrarySpec)
        servo(NativeLibrarySpec)
        drive_motor(NativeLibrarySpec)
        all { component ->
            component.targetBuildTypes 'debug'
            sources {
                cpp.lib library:  "${component.name}", linkage: "static"
            }
        }

    }

    /* TODO:  Finish writing the test case */

    /* We pass the name of the .so and a .world file to each test */
    testSuites {
        all { test->
            def library_file
            testedComponent.binaries.withType(SharedLibraryBinarySpec).each { b->
                library_file = b.sharedLibraryFile
            }

            tasks.withType(RunTestExecutable) {
                args library_file, file("src/${baseName}/world/${baseName}.world")
            }
        }
    }


    binaries {
        all {
            linker.args gazebo_linker_args
            cppCompiler.args gazebo_cppflags
            lib project: ":simulation:gz_msgs", library: "gz_msgs", linkage: "static"
        }

        /* TODO: build only shared object? Figure out why this doesn't work? */
        withType(StaticLibraryBinarySpec) {
            buildable = false
        }

        withType(GoogleTestTestSuiteBinarySpec) {

            /* We currently only have a test for the clock plugin */
            /* TODO: learn how to add this back to gmock */
            //if (it.projectScopedName.contains("clockTest")) {
            //    buildable = true
            //    project(':gmock').addGmockToLinker(it)
            //}
            //else {
                buildable = false
            //}
        }
    }
}

task copyScript(type: Copy, group: "FRC Gazebo", description: "Copy the frcgazebo script to the output directory.") {
    from "scripts"
    into "$project.buildDir/bin"
    fileMode 0755
}

build.dependsOn copyScript

/* TODO:  Publish this library */