myRobot/build.gradle

import edu.wpi.first.deployutils.deploy.target.RemoteTarget
import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
import edu.wpi.first.deployutils.deploy.artifact.*
import org.gradle.internal.os.OperatingSystem

plugins {
    id 'java'
    id 'application'
    id 'cpp'
    id 'visual-studio'
}

apply plugin: 'edu.wpi.first.NativeUtils'
apply plugin: 'edu.wpi.first.DeployUtils'

apply from: '../shared/config.gradle'

application {
    if (OperatingSystem.current().isMacOsX()) {
        applicationDefaultJvmArgs = ['-XstartOnFirstThread']
    }
}

ext {
    sharedCvConfigs = [myRobotCpp: []]
    staticCvConfigs = [myRobotCppStatic: []]
    useJava = true
    useCpp = true
    skipDev = true
}

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

mainClassName = 'frc.robot.Main'

apply plugin: 'com.github.johnrengelman.shadow'

repositories {
    maven {
        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
    }
}

dependencies {
    implementation project(':wpilibj')
    implementation project(':wpimath')
    implementation project(':hal')
    implementation project(':wpiutil')
    implementation project(':wpinet')
    implementation project(':ntcore')
    implementation project(':cscore')
    implementation project(':cameraserver')
    implementation project(':wpilibNewCommands')
}

tasks.withType(com.github.spotbugs.snom.SpotBugsTask).configureEach {
    onlyIf { false }
}

def simProjects = ['halsim_gui']

deploy {
    targets {
        roborio(RemoteTarget) {
            directory = '/home/lvuser'
            maxChannels = 4
            locations {
                ssh(SshDeployLocation) {
                    address = "172.22.11.2"
                    user = 'admin'
                    password = ''
                    ipv6 = false
                }
            }

            def remote = it

            artifacts.registerFactory(WPIJREArtifact) {
                return objects.newInstance(WPIJREArtifact, it, remote)
            }

            artifacts {
                all {
                    predeploy << { ctx ->
                        ctx.execute('. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null')
                        ctx.execute("sed -i -e 's/\"exec /\"/' /usr/local/frc/bin/frcRunRobot.sh")
                    }
                    postdeploy << { ctx ->
                        ctx.execute("sync")
                        ctx.execute("ldconfig")
                    }
                }

                myRobotCpp(NativeExecutableArtifact) {
                    libraryDirectory = '/usr/local/frc/third-party/lib'
                    def excludes = getLibraryFilter().getExcludes()
                    excludes.add('**/*.so.debug')
                    excludes.add('**/*.so.*.debug')
                    postdeploy << { ctx ->
                        ctx.execute("echo '/home/lvuser/myRobotCpp' > /home/lvuser/robotCommand")
                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCpp\"")
                        ctx.execute('chmod +x myRobotCpp')
                    }
                }

                myRobotCppStatic(NativeExecutableArtifact) {
                    libraryDirectory = '/usr/local/frc/third-party/lib'
                    postdeploy << { ctx ->
                        ctx.execute("echo '/home/lvuser/myRobotCppStatic' > /home/lvuser/robotCommand")
                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCppStatic\"")
                        ctx.execute('chmod +x myRobotCppStatic')
                    }
                }

                myRobotCppJava(NativeExecutableArtifact) {
                    libraryDirectory = '/usr/local/frc/third-party/lib'
                    def excludes = getLibraryFilter().getExcludes()
                    excludes.add('**/*.so.debug')
                    excludes.add('**/*.so.*.debug')
                }

                jre(WPIJREArtifact) {
                }

                myRobotJava(JavaArtifact) {
                    jarTask = shadowJar
                    postdeploy << { ctx ->
                        ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseG1GC -XX:MaxGCPauseMillis=1 -XX:GCTimeRatio=1 -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/myRobot-all.jar' > /home/lvuser/robotCommand")
                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
                    }
                }
            }
        }
    }
}

tasks.register('deployJava') {
    try {
        dependsOn tasks.named('deployjreroborio')
        dependsOn tasks.named('deploymyRobotJavaroborio')
        dependsOn tasks.named('deploymyRobotCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
    } catch (ignored) {
    }
}

tasks.register('deployShared') {
    try {
        dependsOn tasks.named('deploymyRobotCpproborio')
    } catch (ignored) {
    }
}

tasks.register('deployStatic') {
    try {
        dependsOn tasks.named('deploymyRobotCppStaticroborio')
    } catch (ignored) {
    }
}

model {
    components {
        myRobotCpp(NativeExecutableSpec) {
            targetBuildTypes 'debug'
            sources {
                cpp {
                    source {
                        srcDirs = ['src/main/native/cpp']
                        includes = ['**/*.cpp']
                    }
                    exportedHeaders {
                        srcDirs = ['src/main/native/include']
                        includes = ['**/*.h']
                    }
                }
            }
            binaries.all { binary ->
                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                    if (binary.buildType.name == 'debug') {
                        deploy.targets.roborio.artifacts.myRobotCpp.binary = binary
                        deploy.targets.roborio.artifacts.myRobotCppJava.binary = binary
                    }
                }
                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
                lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
                lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
                project(':ntcore').addNtcoreDependency(binary, 'shared')
                project(':ntcore').addNtcoreJniDependency(binary)
                lib project: ':cscore', library: 'cscore', linkage: 'shared'
                lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
                lib project: ':wpimath', library: 'wpimathJNIShared', linkage: 'shared'
                lib project: ':wpinet', library: 'wpinetJNIShared', linkage: 'shared'
                lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
                project(':hal').addHalDependency(binary, 'shared')
                project(':hal').addHalJniDependency(binary)
                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
                } else {
                    def systemArch = getCurrentArch()
                    if (binary.targetPlatform.name == systemArch) {
                        simProjects.each {
                            lib project: ":simulation:$it", library: it, linkage: 'shared'
                        }
                    }
                }
            }
        }
        myRobotCppStatic(NativeExecutableSpec) {
            targetBuildTypes 'debug'
            nativeUtils.excludeBinariesFromStrip(it)
            sources {
                cpp {
                    source {
                        srcDirs = ['src/main/native/cpp']
                        includes = ['**/*.cpp']
                    }
                    exportedHeaders {
                        srcDirs = ['src/main/native/include']
                        includes = ['**/*.h']
                    }
                }
            }
            binaries.all { binary ->
                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                    if (binary.buildType.name == 'debug') {
                        deploy.targets.roborio.artifacts.myRobotCppStatic.binary = binary
                    }
                }
                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
                lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
                project(':ntcore').addNtcoreDependency(binary, 'static')
                lib project: ':cscore', library: 'cscore', linkage: 'static'
                project(':hal').addHalDependency(binary, 'static')
                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
                }
            }
        }
    }
    tasks {
        def c = $.components
        project.tasks.create('runCpp', Exec) {
            group = 'WPILib'
            description = "Run the myRobotCpp executable"
            def found = false
            def systemArch = getCurrentArch()
            def runTask = it
            c.each {
                if (it in NativeExecutableSpec && it.name == "myRobotCpp") {
                    it.binaries.each {
                        if (!found) {
                            def arch = it.targetPlatform.name
                            if (arch == systemArch) {
                                dependsOn it.tasks.install
                                commandLine it.tasks.install.runScriptFile.get().asFile.toString()
                                def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
                                run.dependsOn it.tasks.install
                                run.systemProperty 'java.library.path', filePath
                                run.environment 'LD_LIBRARY_PATH', filePath

                                def installTask = it.tasks.install

                                def doFirstTask = {
                                    def extensions = '';
                                    installTask.installDirectory.get().getAsFile().eachFileRecurse {
                                        def name = it.name
                                        if (!(name.endsWith('.dll') || name.endsWith('.so') || name.endsWith('.dylib'))) {
                                            return
                                        }
                                        def file = it
                                        simProjects.each {
                                            if (name.startsWith(it) || name.startsWith("lib$it".toString())) {
                                                extensions += file.absolutePath + File.pathSeparator
                                            }
                                        }
                                    }
                                    if (extensions != '') {
                                        run.environment 'HALSIM_EXTENSIONS', extensions
                                        runTask.environment 'HALSIM_EXTENSIONS', extensions
                                    }
                                }

                                runTask.doFirst doFirstTask
                                run.doFirst doFirstTask

                                run.workingDir filePath

                                found = true
                            }
                        }
                    }
                }
            }
        }
        installAthena(Task) {
            $.binaries.each {
                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'myRobotCpp') {
                    dependsOn it.tasks.install
                }
            }
        }
        installAthenaStatic(Task) {
            $.binaries.each {
                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'myRobotCppStatic') {
                    dependsOn it.tasks.install
                }
            }
        }
    }
}