build.gradle

plugins {
    id "java"
    id 'java-library'
    id 'maven-publish'
    id "edu.wpi.first.GradleRIO" version "2023.4.2"
    id 'com.google.protobuf' version '0.8.19'
}

sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11

def protobufVersion = '3.21.6'

def ROBOT_MAIN_CLASS = "com.team766.hal.wpilib.RobotMain"

sourceSets {
  main {
    java {
      // NOTE(rcahoon, 2022-10-16): Gradle doesn't need this, but VSCode seems
      // to not automatically add generated classes to the classpath.
      srcDirs 'build/generated/source/proto/main/java'
    }
  }
}

// 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')) {
                    // This supposedly makes Java save a heap dump on OutOfMemoryError, but
                    // unfortunately it doesn't seem to work when the error is raised due to a
                    // native allocation. https://stackoverflow.com/q/27166267
                    jvmArgs.add("-XX:+HeapDumpOnOutOfMemoryError")
                    jvmArgs.add("-XX:HeapDumpPath=/home/lvuser")
                    // This limits heap memory as a percentage (0-100) of physical memory size.
                    // `MinRAMPercentage` is a misleading name, which suggests that it is used to
                    // configure minimum heap size. Rather, the `-XX:MinRAMPercentage` JVM argument
                    // will be used to compute the maximum Java heap size only if the overall memory
                    // size in the physical machine is less than 250MB (approximately). Say suppose
                    // you are configuring `-XX:MinRAMPercentage=50` and overall physical memory is
                    // 100MB; then your java application's max heap size will be set to 50MB
                    // (i.e., 50% of 100MB). `-XX:MaxRAMPercentage` has the same effect and applies
                    // only when physical memory is larger than 250MB.
                    // Effectively, this limit should apply to RoboRIO V1 (~240MB of RAM available),
                    // but not RoboRIO V2 (~500MB of RAM available).
                    // Without this, we get errors like
                    //    OpenJDK Client VM warning: INFO: os::commit_memory(0xb3800000, 1048576, 0)
                    //    failed; error='Not enough space' (errno=12)
                    //    # There is insufficient memory for the Java Runtime Environment to continue.
                    //    # Native memory allocation (mmap) failed to map 1048576 bytes for committing
                    //    reserved memory.
                    jvmArgs.add("-XX:MinRAMPercentage=15")
                    // This makes the JVM print the heap memory size on startup.
                    jvmArgs.add("-XshowSettings:vm")
                }

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

                // Just the (static) config files
                configFiles(getArtifactTypeClass('FileTreeArtifact')) {
                    setDeployStage(it, 'BeforeProgramKill')
                    files = project.fileTree('src/main/deploy/configs')
                    directory = '/home/lvuser/deploy/configs'
                }
            }
        }
    }
}

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 = false

// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 5.
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 'junit:junit:4.12'
    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'

    // our files
    implementation "com.google.protobuf:protobuf-javalite:${protobufVersion}"

    implementation files('deps/commons-math3-3.6.1.jar')
    implementation files('deps/gral-core-0.11.jar')
    // implementation "org.java-websocket:Java-WebSocket:1.4.0"
    //implementation files('deps/Java-WebSocket-1.3.9.jar')
    implementation files('deps/json-20190722.jar')
}

javadoc {
  source = sourceSets.main.allJava
}

test {
    useJUnitPlatform()
    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
}

// 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'
}
allprojects {
    group 'com.team766'
    version '2.1.1'

    repositories {
        mavenCentral()

        gradlePluginPortal()  // for protobuf

        maven { url = uri('https://frcmaven.wpi.edu/artifactory/release/') }

        // CTRE
        maven { url = uri('https://devsite.ctr-electronics.com/maven/release/') }

        // REV
        maven { url = uri('https://maven.revrobotics.com/') }
    }
}

protobuf {
  // Configure the protoc executable
  protoc {
    // Download from repositories
    artifact = "com.google.protobuf:protoc:${protobufVersion}"
  }


  plugins {
    javalite {
      // The codegen for lite comes as a separate artifact
      artifact = 'com.google.protobuf:protoc-gen-javalite:${protobufVersion}'
    }
  }

  generateProtoTasks {
    all().configureEach { task ->
      task.builtins {
        java {
          option "lite"
        }
      }
    }
  }
}