build.gradle

import org.apache.tools.ant.filters.ReplaceTokens

plugins {
    id 'java'
    id 'edu.wpi.first.GradleRIO' version '2023.1.1'
    id 'com.diffplug.spotless' version '6.12.1'
    id 'com.github.ben-manes.versions' version '0.44.0'
    id 'se.patrikerdes.use-latest-versions' version '0.2.18'
    id 'com.adarshr.test-logger' version '3.0.0'
}

tasks.withType(JavaCompile) {
    options.encoding = 'UTF-8'
}

sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11

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(getTargetTypeClass('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 = project.frc.getTeamNumber()
            debug = project.frc.getDebugOrDefault(false)

            artifacts {
                // First part is artifact name, 2nd is artifact type
                // getTargetTypeClass is a shortcut to get the class type using a string

                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
                }

                // Static files artifact
                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                    files = project.fileTree('src/main/deploy')
                    directory = '/home/lvuser/deploy'
                }
            }
        }
    }
}

def deployArtifact = deploy.targets.roborio.artifacts.frcJava

// Set to true to use debug for JNI.
wpi.java.debugJni = false

// Set this to true to enable desktop support.
def includeDesktopSupport = true

// Defining dependencies. In this case, WPILib, vendor libraries and testing libraries.
dependencies {
    implementation wpi.java.deps.wpilib()
    implementation wpi.java.vendor.java()

    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)

    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)

    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
    simulationDebug wpi.sim.enableDebug()

    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
    simulationRelease wpi.sim.enableRelease()

    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.9.1'
    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.9.1'
    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.9.1'
    
    // For talking to the JeVois over the USB connection.
    implementation 'com.fazecast:jSerialComm:2.9.3'

    // For encoding and decoding html text as part of config server.
    implementation 'org.apache.commons:commons-text:1.10.0'
    implementation 'commons-io:commons-io:2.11.0'
    
    implementation 'org.java-websocket:Java-WebSocket:1.5.3'

    /* For Strongback*/
    // https://mvnrepository.com/artifact/com.codahale.metrics/metrics-core
    implementation group: 'com.codahale.metrics', name: 'metrics-core', version: '3.0.2'
}

test {
    useJUnitPlatform()
    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
    testLogging {
        // https://docs.gradle.org/6.9/userguide/performance.html#suggestions_for_java_projects
        maxParallelForks = Runtime.runtime.availableProcessors().intdiv(2) ?: 1
    }
}

// Information on how to configure at https://github.com/radarsh/gradle-test-logger-plugin
testlogger {
    theme 'standard-parallel'
    showFullStackTraces true
    showPassedStandardStreams false
}

// Simulation configuration (e.g. environment variables).
wpi.sim.addGui().defaultEnabled = true
wpi.sim.addDriverstation()

// 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)
    duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

// Configure jar and deploy tasks
deployArtifact.jarTask = jar
wpi.java.configureExecutableTasks(jar)
wpi.java.configureTestTasks(test)

// Configure string concat to always inline compile
tasks.withType(JavaCompile) {
    options.compilerArgs.add '-XDstringConcat=inline'
}

// Keep Spotless to validate formatting on build/PR
spotless {
    ratchetFrom 'origin/main'
    java {
        importOrder()
        removeUnusedImports()
        eclipse().configFile('.vscode/java-formatter-settings.xml')
    }
}

// The following task exists to stop crashes at runtime trying to access missing/mistyped
// pathweaver files. It will generate a class containing public strings for all of the
// files in the pathweaver output directory. These public strings are to be used with
// driveRelativeWaypoints(pathname) in Auto.java instead of directly referring to the
// pathweaver files.
task generateAutoPaths(type: Copy) {
    group 'Build'
    description 'Generates AutoPaths class containing a string for each pathweaver file in the deploy folder.'

    from 'src/template/java'

    def files =  fileTree('src/main/deploy/pathweaver/output').filter { it.isFile() }.files.name.sort()

    def replace = '\n'
    for (file in files) {
        def camelCaseName = file.split('\\.')[0].replaceAll('(_)([A-Za-z0-9])', { it[2].toUpperCase() }).capitalize()
        replace += '    public static final String k' + camelCaseName + ' = "' + file + '";\n'
    }

    filter(ReplaceTokens, tokens: [GradleToken: replace])
    into 'src/main/java'
}

sourceSets.main.java.srcDir  "$buildDir/generated/java"

spotlessJava.dependsOn generateAutoPaths
compileJava.dependsOn generateAutoPaths