Merge branch 'main' into upstream-utils-commands

KangarooKoala · Jul 16, 2024 · 4e15117 · 4e15117
2 parents 53e90d0 + 7d64d4e
commit 4e15117
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Showing 79 changed files with 784 additions and 341 deletions.
diff --git a/.github/workflows/command-robotpy-pr.yml b/.github/workflows/command-robotpy-pr.yml
@@ -5,7 +5,7 @@ on:
     types:
       - opened
     paths:
-      - 'wpilibNewCommands/**'
+      - 'wpilibNewCommands/src/**/*.java'
 
 jobs:
   comment:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -15,7 +15,7 @@ if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
     message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
 endif()
 
-cmake_minimum_required(VERSION 3.11)
+cmake_minimum_required(VERSION 3.21)
 project(allwpilib)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
 

diff --git a/apriltag/CMakeLists.txt b/apriltag/CMakeLists.txt
@@ -87,22 +87,16 @@ endif()
 
 if(WITH_JAVA_SOURCE)
     include(UseJava)
-    file(GLOB APRILTAG_SOURCES src/main/java/edu/wpi/first/apriltag/*.java)
-    add_jar(
+    include(CreateSourceJar)
+    add_source_jar(
         apriltag_src_jar
-        RESOURCES
-        NAMESPACE "edu/wpi/first/apriltag" ${APRILTAG_SOURCES}
-        NAMESPACE
-            "edu/wpi/first/apriltag/jni"
-            src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
         OUTPUT_NAME apriltag-sources
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-
-    get_property(APRILTAG_SRC_JAR_FILE TARGET apriltag_src_jar PROPERTY JAR_FILE)
-    install(FILES ${APRILTAG_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
-
     set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")
+
+    install_jar(apriltag_src_jar DESTINATION ${java_lib_dest})
 endif()
 
 generate_resources(

diff --git a/cameraserver/CMakeLists.txt b/cameraserver/CMakeLists.txt
@@ -42,21 +42,16 @@ endif()
 
 if(WITH_JAVA_SOURCE)
     include(UseJava)
-    file(GLOB CAMERASERVER_SOURCES src/main/java/edu/wpi/first/cameraserver/*.java)
-    file(GLOB VISION_SOURCES src/main/java/edu/wpi/first/vision/*.java)
-    add_jar(
+    include(CreateSourceJar)
+    add_source_jar(
         cameraserver_src_jar
-        RESOURCES
-        NAMESPACE "edu/wpi/first/cameraserver" ${CAMERASERVER_SOURCES}
-        NAMESPACE "edu/wpi/first/vision" ${VISION_SOURCES}
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
         OUTPUT_NAME cameraserver-sources
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-
-    get_property(CAMERASERVER_SRC_JAR_FILE TARGET cameraserver_src_jar PROPERTY JAR_FILE)
-    install(FILES ${CAMERASERVER_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
-
     set_property(TARGET cameraserver_src_jar PROPERTY FOLDER "java")
+
+    install_jar(cameraserver_src_jar DESTINATION ${java_lib_dest})
 endif()
 
 file(GLOB_RECURSE cameraserver_native_src src/main/native/cpp/*.cpp)

diff --git a/cmake/modules/CompileWarnings.cmake b/cmake/modules/CompileWarnings.cmake
@@ -54,4 +54,9 @@ macro(wpilib_target_warnings target)
     )
         target_compile_options(${target} PRIVATE -gz=zlib)
     endif()
+
+    # Disable std::mutex constexpr constructor on MSVC
+    if(MSVC)
+        target_compile_options(${target} PRIVATE /D_DISABLE_CONSTEXPR_MUTEX_CONSTRUCTOR)
+    endif()
 endmacro()
diff --git a/cmake/modules/CreateSourceJar.cmake b/cmake/modules/CreateSourceJar.cmake
@@ -0,0 +1,34 @@
+macro(add_source_jar target)
+    set(oneValueArgs OUTPUT_NAME OUTPUT_DIR)
+    cmake_parse_arguments(SOURCE_JAR "" "${oneValueArgs}" "BASE_DIRECTORIES" ${ARGN})
+    foreach(base_package_dir ${SOURCE_JAR_BASE_DIRECTORIES})
+        file(GLOB_RECURSE directories LIST_DIRECTORIES true ${base_package_dir}/*.directoriesonly)
+        # Find all packages
+        foreach(directory ${directories})
+            cmake_path(
+                RELATIVE_PATH
+                directory
+                BASE_DIRECTORY ${base_package_dir}
+                OUTPUT_VARIABLE package_name
+            )
+            file(GLOB package_sources ${directory}/*.java)
+            if(package_sources STREQUAL "")
+                continue()
+            endif()
+            # If package sources are scattered across different places, consolidate them under one package
+            list(FIND packages ${package_name} index)
+            if(index EQUAL -1)
+                list(APPEND packages ${package_name})
+            endif()
+            list(APPEND ${package_name} ${package_sources})
+        endforeach()
+    endforeach()
+    set(resources "")
+    foreach(package ${packages})
+        string(APPEND resources "NAMESPACE \"${package}\" ${${package}} ")
+    endforeach()
+    cmake_language(
+        EVAL CODE
+            "add_jar(${target} RESOURCES ${resources} OUTPUT_NAME ${SOURCE_JAR_OUTPUT_NAME} OUTPUT_DIR ${SOURCE_JAR_OUTPUT_DIR})"
+    )
+endmacro()
diff --git a/cscore/CMakeLists.txt b/cscore/CMakeLists.txt
@@ -129,21 +129,16 @@ endif()
 
 if(WITH_JAVA_SOURCE)
     include(UseJava)
-    file(GLOB CSCORE_SOURCES src/main/java/edu/wpi/first/cscore/*.java)
-    file(GLOB CSCORE_RAW_SOURCES src/main/java/edu/wpi/first/cscore/raw/*.java)
-    add_jar(
+    include(CreateSourceJar)
+    add_source_jar(
         cscore_src_jar
-        RESOURCES
-        NAMESPACE "edu/wpi/first/cscore" ${CSCORE_SOURCES}
-        NAMESPACE "edu/wpi/first/cscore/raw" ${CSCORE_RAW_SOURCES}
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
         OUTPUT_NAME cscore-sources
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-
-    get_property(CSCORE_SRC_JAR_FILE TARGET cscore_src_jar PROPERTY JAR_FILE)
-    install(FILES ${CSCORE_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
-
     set_property(TARGET cscore_src_jar PROPERTY FOLDER "java")
+
+    install_jar(cscore_src_jar DESTINATION ${java_lib_dest})
 endif()
 
 if(WITH_TESTS)

diff --git a/glass/src/lib/native/cpp/hardware/PCM.cpp → ...src/lib/native/cpp/hardware/Pneumatic.cpp b/glass/src/lib/native/cpp/hardware/PCM.cpp → ...src/lib/native/cpp/hardware/Pneumatic.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/PCM.h"
+#include "glass/hardware/Pneumatic.h"
 
 #include <cstdio>
 #include <cstring>
@@ -20,8 +20,8 @@
 
 using namespace glass;
 
-bool glass::DisplayPCMSolenoids(PCMModel* model, int index,
-                                bool outputsEnabled) {
+bool glass::DisplayPneumaticControlSolenoids(PneumaticControlModel* model,
+                                             int index, bool outputsEnabled) {
   wpi::SmallVector<int, 16> channels;
   model->ForEachSolenoid([&](SolenoidModel& solenoid, int j) {
     if (auto data = solenoid.GetOutputData()) {
@@ -50,7 +50,8 @@ bool glass::DisplayPCMSolenoids(PCMModel* model, int index,
     wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###header", name,
                            index);
   } else {
-    wpi::format_to_n_c_str(label, sizeof(label), "PCM[{}]###header", index);
+    wpi::format_to_n_c_str(label, sizeof(label), "{}[{}]###header",
+                           model->GetName(), index);
   }
 
   // header
@@ -85,32 +86,29 @@ bool glass::DisplayPCMSolenoids(PCMModel* model, int index,
   return true;
 }
 
-void glass::DisplayPCMsSolenoids(PCMsModel* model, bool outputsEnabled,
-                                 std::string_view noneMsg) {
+void glass::DisplayPneumaticControlsSolenoids(PneumaticControlsModel* model,
+                                              bool outputsEnabled,
+                                              std::string_view noneMsg) {
   bool hasAny = false;
-  model->ForEachPCM([&](PCMModel& pcm, int i) {
-    PushID(i);
-    if (DisplayPCMSolenoids(&pcm, i, outputsEnabled)) {
-      hasAny = true;
-    }
-    PopID();
-  });
+  model->ForEachPneumaticControl(
+      [&](PneumaticControlModel& pneumaticControl, int i) {
+        PushID(i);
+        if (DisplayPneumaticControlSolenoids(&pneumaticControl, i,
+                                             outputsEnabled)) {
+          hasAny = true;
+        }
+        PopID();
+      });
   if (!hasAny && !noneMsg.empty()) {
     ImGui::TextUnformatted(noneMsg.data(), noneMsg.data() + noneMsg.size());
   }
 }
 
-void glass::DisplayCompressorDevice(PCMModel* model, int index,
+void glass::DisplayCompressorDevice(CompressorModel* model, int index,
                                     bool outputsEnabled) {
-  auto compressor = model->GetCompressor();
-  if (!compressor || !compressor->Exists()) {
+  if (!model || !model->Exists()) {
     return;
   }
-  DisplayCompressorDevice(compressor, index, outputsEnabled);
-}
-
-void glass::DisplayCompressorDevice(CompressorModel* model, int index,
-                                    bool outputsEnabled) {
   char name[32];
   wpi::format_to_n_c_str(name, sizeof(name), "Compressor[{}]", index);
 
@@ -155,8 +153,11 @@ void glass::DisplayCompressorDevice(CompressorModel* model, int index,
   }
 }
 
-void glass::DisplayCompressorsDevice(PCMsModel* model, bool outputsEnabled) {
-  model->ForEachPCM([&](PCMModel& pcm, int i) {
-    DisplayCompressorDevice(&pcm, i, outputsEnabled);
-  });
+void glass::DisplayCompressorsDevice(PneumaticControlsModel* model,
+                                     bool outputsEnabled) {
+  model->ForEachPneumaticControl(
+      [&](PneumaticControlModel& pneumaticControl, int i) {
+        DisplayCompressorDevice(pneumaticControl.GetCompressor(), i,
+                                outputsEnabled);
+      });
 }
diff --git a/...c/lib/native/include/glass/hardware/PCM.h → ...native/include/glass/hardware/Pneumatic.h b/...c/lib/native/include/glass/hardware/PCM.h → ...native/include/glass/hardware/Pneumatic.h
@@ -4,7 +4,9 @@
 
 #pragma once
 
+#include <memory>
 #include <string_view>
+#include <utility>
 
 #include <wpi/function_ref.h>
 
@@ -34,27 +36,45 @@ class SolenoidModel : public Model {
   virtual void SetOutput(bool val) = 0;
 };
 
-class PCMModel : public Model {
+class PneumaticControlModel : public Model {
  public:
   virtual CompressorModel* GetCompressor() = 0;
 
   virtual void ForEachSolenoid(
       wpi::function_ref<void(SolenoidModel& model, int index)> func) = 0;
+
+  virtual std::string_view GetName() = 0;
 };
 
-class PCMsModel : public Model {
+class PneumaticControlsModel : public Model {
  public:
-  virtual void ForEachPCM(
-      wpi::function_ref<void(PCMModel& model, int index)> func) = 0;
+  virtual void ForEachPneumaticControl(
+      wpi::function_ref<void(PneumaticControlModel& model, int index)>
+          func) = 0;
+};
+
+struct AllPneumaticControlsModel : public Model {
+  AllPneumaticControlsModel(std::unique_ptr<PneumaticControlsModel> pcms,
+                            std::unique_ptr<PneumaticControlsModel> phs)
+      : pcms{std::move(pcms)}, phs{std::move(phs)} {};
+  std::unique_ptr<PneumaticControlsModel> pcms;
+  std::unique_ptr<PneumaticControlsModel> phs;
+  void Update() override {
+    pcms->Update();
+    phs->Update();
+  };
+  bool Exists() override { return true; }
 };
 
-bool DisplayPCMSolenoids(PCMModel* model, int index, bool outputsEnabled);
-void DisplayPCMsSolenoids(PCMsModel* model, bool outputsEnabled,
-                          std::string_view noneMsg = "No solenoids");
+bool DisplayPneumaticControlSolenoids(PneumaticControlModel* model, int index,
+                                      bool outputsEnabled);
+void DisplayPneumaticControlsSolenoids(
+    PneumaticControlsModel* model, bool outputsEnabled,
+    std::string_view noneMsg = "No solenoids");
 
-void DisplayCompressorDevice(PCMModel* model, int index, bool outputsEnabled);
 void DisplayCompressorDevice(CompressorModel* model, int index,
                              bool outputsEnabled);
-void DisplayCompressorsDevice(PCMsModel* model, bool outputsEnabled);
+void DisplayCompressorsDevice(PneumaticControlsModel* model,
+                              bool outputsEnabled);
 
 }  // namespace glass
diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
@@ -80,28 +80,18 @@ endif()
 
 if(WITH_JAVA_SOURCE)
     include(UseJava)
-    file(GLOB HAL_SOURCES src/main/java/edu/wpi/first/hal/*.java src/generated/main/java/*.java)
-    file(GLOB HAL_CAN_SOURCES src/main/java/edu/wpi/first/hal/can/*.java)
-    file(GLOB HAL_SIMULATION_SOURCES src/main/java/edu/wpi/first/hal/simulation/*.java)
-    file(GLOB HAL_UTIL_SOURCES src/main/java/edu/wpi/first/hal/util/*.java)
-    add_jar(
+    include(CreateSourceJar)
+    add_source_jar(
         hal_src_jar
-        RESOURCES
-        NAMESPACE "edu/wpi/first/hal" ${HAL_SOURCES}
-        NAMESPACE "edu/wpi/first/hal/can" ${HAL_CAN_SOURCES}
-        NAMESPACE
-            "edu/wpi/first/hal/communication"
-            src/main/java/edu/wpi/first/hal/communication/NIRioStatus.java
-        NAMESPACE "edu/wpi/first/hal/simulation" ${HAL_SIMULATION_SOURCES}
-        NAMESPACE "edu/wpi/first/hal/util" ${HAL_UTIL_SOURCES}
+        BASE_DIRECTORIES
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
         OUTPUT_NAME wpiHal-sources
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-
-    get_property(HAL_SRC_JAR_FILE TARGET hal_src_jar PROPERTY JAR_FILE)
-    install(FILES ${HAL_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
-
     set_property(TARGET hal_src_jar PROPERTY FOLDER "java")
+
+    install_jar(hal_src_jar DESTINATION ${java_lib_dest})
 endif()
 
 if(WITH_TESTS)

diff --git a/ntcore/CMakeLists.txt b/ntcore/CMakeLists.txt
@@ -76,23 +76,18 @@ endif()
 
 if(WITH_JAVA_SOURCE)
     include(UseJava)
-    file(
-        GLOB NTCORE_SOURCES
-        src/main/java/edu/wpi/first/networktables/*.java
-        src/generated/main/java/*.java
-    )
-    add_jar(
+    include(CreateSourceJar)
+    add_source_jar(
         ntcore_src_jar
-        RESOURCES
-        NAMESPACE "edu/wpi/first/networktables" ${NTCORE_SOURCES}
+        BASE_DIRECTORIES
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
         OUTPUT_NAME ntcore-sources
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-
-    get_property(NTCORE_SRC_JAR_FILE TARGET ntcore_src_jar PROPERTY JAR_FILE)
-    install(FILES ${NTCORE_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
-
     set_property(TARGET ntcore_src_jar PROPERTY FOLDER "java")
+
+    install_jar(ntcore_src_jar DESTINATION ${java_lib_dest})
 endif()
 
 add_executable(ntcoredev src/dev/native/cpp/main.cpp)

diff --git a/romiVendordep/CMakeLists.txt b/romiVendordep/CMakeLists.txt
@@ -35,19 +35,16 @@ endif()
 
 if(WITH_JAVA_SOURCE)
     include(UseJava)
-    file(GLOB_RECURSE ROMIVENDORDEP_SOURCES src/main/java/*.java)
-    add_jar(
+    include(CreateSourceJar)
+    add_source_jar(
         romiVendordep_src_jar
-        RESOURCES
-        NAMESPACE "edu/wpi/first/wpilibj/romi" ${ROMIVENDORDEP_SOURCES}
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
         OUTPUT_NAME romiVendordep-sources
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-
-    get_property(ROMIVENDORDEP_SRC_JAR_FILE TARGET romiVendordep_src_jar PROPERTY JAR_FILE)
-    install(FILES ${ROMIVENDORDEP_JAR_FILE} DESTINATION "${java_lib_dest}")
-
     set_property(TARGET romiVendordep_src_jar PROPERTY FOLDER "java")
+
+    install_jar(romiVendordep_src_jar DESTINATION ${java_lib_dest})
 endif()
 
 file(GLOB_RECURSE romiVendordep_native_src src/main/native/cpp/*.cpp)