build.gradle

plugins {
    id "java"
    id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
}

// wpi.maven.useLocal = false
// wpi.maven.useFrcMavenLocalDevelopment = true
// wpi.versions.wpilibVersion = '2024.424242.+'
// wpi.versions.wpimathVersion = '2024.424242.+'

wpi.maven.useLocal = false
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = '2024.+'
wpi.versions.wpimathVersion = '2024.+'

sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11

def ROBOT_MAIN_CLASS = "frc.robot.Main"

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

// 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()

    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:5.8.2'
    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
}

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

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

//Sets the websocket client remote host.
// wpi.sim.envVar("HALSIMWS_HOST", "192.168.42.1")
// wpi.sim.envVar("HALSIMWS_HOST", "127.0.0.1")
// wpi.sim.envVar("HALSIMWS_FILTERS", "AIO,DIO,DriverStation,Encoder,Gyro,XRPMotor,XRPServo,HAL")
// wpi.sim.addWebsocketsServer().defaultEnabled = true
// wpi.sim.addWebsocketsClient().defaultEnabled = true

// wpi.sim.envVar("HALSIMWS_HOST", "127.0.0.1")
// wpi.sim.envVar("HALSIMWS_URI", "/xrp-fms-blue1")
// wpi.sim.envVar("HALSIMWS_FILTERS", "DriverStation")
// wpi.sim.addWebsocketsClient().defaultEnabled = true

wpi.sim.envVar("HALSIMXRP_HOST", "127.0.0.1");
// wpi.sim.addXRPClient().defaultEnabled = true

wpi.sim.addDep("Sim XRP Client", "edu.wpi.first.halsim", "halsim_xrp").defaultEnabled = true;

// 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
}

wpi.java.configureExecutableTasks(jar)
wpi.java.configureTestTasks(test)

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