diff --git a/examples/resources/.gitignore b/examples/resources/.gitignore new file mode 100644 index 00000000..34cbaac1 --- /dev/null +++ b/examples/resources/.gitignore @@ -0,0 +1,187 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/examples/resources/.wpilib/wpilib_preferences.json b/examples/resources/.wpilib/wpilib_preferences.json new file mode 100644 index 00000000..19f541ed --- /dev/null +++ b/examples/resources/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2027_alpha5", + "teamNumber": 9999 +} diff --git a/examples/resources/WPILib-License.md b/examples/resources/WPILib-License.md new file mode 100644 index 00000000..c2891d4d --- /dev/null +++ b/examples/resources/WPILib-License.md @@ -0,0 +1,26 @@ +Copyright (c) 2009-2026 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +- Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. +- Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. +IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/examples/resources/build.gradle b/examples/resources/build.gradle new file mode 100644 index 00000000..f729df7a --- /dev/null +++ b/examples/resources/build.gradle @@ -0,0 +1,147 @@ +plugins { + id "java" + id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6" + id "com.gradleup.shadow" version "9.3.0" + id "com.diffplug.spotless" version "8.0.0" +} + +java { + sourceCompatibility = JavaVersion.VERSION_25 + targetCompatibility = JavaVersion.VERSION_25 +} + +def ROBOT_MAIN_CLASS = "" + +// Define my targets (SystemCore) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + systemcore(getTargetTypeClass('SystemCore')) { + // 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.wpilib.getTeamNumber() + // Use the default systemcore host name. This must be called after setting team + // as happens on the line above + useDefaultSystemcoreHostName() + debug = project.wpilib.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) { + } + + // Static files artifact + wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava + +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. +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 { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) + + systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore) + systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore) + + 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:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +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/shaded jar') +// in order to make them all available at runtime and merging service files to make JSON work. +// Also adding the manifest so WPILib knows where to look for our Robot Class. +shadowJar { + mergeServiceFiles() + from('src') { into 'backup/src' } + from('vendordeps') { into 'backup/vendordeps' } + from('build.gradle') { into 'backup' } + manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = shadowJar +wpi.java.configureExecutableTasks(shadowJar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} + +project.compileJava.dependsOn(spotlessApply) +spotless { + java { + target fileTree(".") { + include "**/*.java" + exclude "**/build/**", "**/build-*/**" + } + toggleOffOn() + palantirJavaFormat() + leadingSpacesToTabs(4) + leadingTabsToSpaces(2) + trimTrailingWhitespace() + endWithNewline() + } + groovyGradle { + target fileTree(".") { + include "**/*.gradle" + exclude "**/build/**", "**/build-*/**" + } + greclipse() + leadingTabsToSpaces(4) + trimTrailingWhitespace() + endWithNewline() + } + format "misc", { + target fileTree(".") { + include "**/*.md", "**/.gitignore" + exclude "**/build/**", "**/build-*/**" + } + trimTrailingWhitespace() + leadingTabsToSpaces(2) + endWithNewline() + } +} diff --git a/examples/resources/gradle/wrapper/gradle-wrapper.jar b/examples/resources/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 00000000..d997cfc6 Binary files /dev/null and b/examples/resources/gradle/wrapper/gradle-wrapper.jar differ diff --git a/examples/resources/gradle/wrapper/gradle-wrapper.properties b/examples/resources/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 00000000..42bb5ac9 --- /dev/null +++ b/examples/resources/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/examples/resources/gradlew b/examples/resources/gradlew new file mode 100644 index 00000000..739907df --- /dev/null +++ b/examples/resources/gradlew @@ -0,0 +1,248 @@ +#!/bin/sh + +# +# Copyright © 2015 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/examples/resources/gradlew.bat b/examples/resources/gradlew.bat new file mode 100644 index 00000000..c4bdd3ab --- /dev/null +++ b/examples/resources/gradlew.bat @@ -0,0 +1,93 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/examples/resources/settings.gradle b/examples/resources/settings.gradle new file mode 100644 index 00000000..e2626a81 --- /dev/null +++ b/examples/resources/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + String wpilibYear = '2027_alpha5' + File wpilibHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + wpilibHome = new File(homeRoot, wpilibYear) + } + def wpilibHomeMaven = new File(wpilibHome, 'maven') + maven { + name = 'wpilibHome' + url = wpilibHomeMaven + } + mavenLocal() + gradlePluginPortal() + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/examples/resources/src/main/java/org/wpilib/command3/Mechanism.java b/examples/resources/src/main/java/org/wpilib/command3/Mechanism.java new file mode 100644 index 00000000..f0cff499 --- /dev/null +++ b/examples/resources/src/main/java/org/wpilib/command3/Mechanism.java @@ -0,0 +1,128 @@ +/* + * Copyright 2026 FRCSoftware + * + * SPDX-License-Identifier: BSD-3-Clause + */ +package org.wpilib.command3; + +import java.util.List; +import java.util.function.Consumer; +import org.wpilib.annotation.NoDiscard; +import org.wpilib.units.measure.Time; + +/** + * A "shim" for the `Mechanism` interface. In WPILib 2027 alpha 6, Mechanisms were still classes; + * however, alpha 7 changes them to interfaces. In an effort to not rewrite any docs, this shim will + * exist for now until alpha 7 releases. + */ +public interface Mechanism { + /** + * Returns the scheduler under which this subsystem and its default commands are registered. The + * scheduler is also used to fetch running commands for the subsystem. + * + * @return The registered scheduler. + */ + default Scheduler getRegisteredScheduler() { + return Scheduler.getDefault(); + } + + /** + * Gets the name of this mechanism. This will default to the name of this mechanism's class. + * + * @return The name of the mechanism. + */ + @NoDiscard + default String getName() { + return getClass().getSimpleName(); + } + + /** + * Sets the default command to run on the mechanism when no other command is scheduled. The + * default command's priority is effectively the minimum allowable priority for any command + * requiring a mechanism. For this reason, it's recommended that a default command have a priority + * less than {@link Command#DEFAULT_PRIORITY} so it doesn't prevent low-priority commands from + * running. + * + *

The default command is initially an idle command that only owns the mechanism without doing + * anything. This command has the lowest possible priority to allow any other command to run. + * + * @param defaultCommand the new default command + */ + default void setDefaultCommand(Command defaultCommand) { + getRegisteredScheduler().setDefaultCommand(this, defaultCommand); + } + + /** + * Gets the default command that was set by the latest call to {@link + * #setDefaultCommand(Command)}. + * + * @return The currently configured default command + */ + default Command getDefaultCommand() { + return getRegisteredScheduler().getDefaultCommandFor(this); + } + + /** + * Starts building a command that requires this mechanism. + * + * @param commandBody The main function body of the command. + * @return The command builder, for further configuration. + */ + default NeedsNameBuilderStage run(Consumer commandBody) { + return new StagedCommandBuilder().requiring(this).executing(commandBody); + } + + /** + * Starts building a command that requires this mechanism. The given function will be called + * repeatedly in an infinite loop. Useful for building commands that don't need state or multiple + * stages of logic. + * + * @param loopBody The body of the infinite loop. + * @return The command builder, for further configuration. + */ + default NeedsNameBuilderStage runRepeatedly(Runnable loopBody) { + return run(coroutine -> { + while (true) { + loopBody.run(); + coroutine.yield(); + } + }); + } + + /** + * Returns a command that idles this mechanism until another command claims it. The idle command + * has {@link Command#LOWEST_PRIORITY the lowest priority} and can be interrupted by any other + * command. + * + *

The {@link #getDefaultCommand() default command} for every mechanism is an idle command + * unless a different default command has been configured. + * + * @return A new idle command. + */ + default Command idle() { + return run(Coroutine::park).withPriority(Command.LOWEST_PRIORITY).named(getName() + "[IDLE]"); + } + + /** + * Returns a command that idles this mechanism for the given duration of time. + * + * @param duration How long the mechanism should idle for. + * @return A new idle command. + */ + default Command idleFor(Time duration) { + return idle().withTimeout(duration); + } + + /** + * Gets all running commands that require this mechanism. Commands are returned in the order in + * which they were scheduled. The returned list is read-only. Every command in the list will have + * been scheduled by the previous entry in the list or by intermediate commands that do not + * require the mechanism. + * + * @return The currently running commands that require the mechanism. + */ + @NoDiscard + default List getRunningCommands() { + return getRegisteredScheduler().getRunningCommandsFor(this); + } +} diff --git a/examples/resources/src/main/java/sources/HardwareIntro.java b/examples/resources/src/main/java/sources/HardwareIntro.java new file mode 100644 index 00000000..75a00b82 --- /dev/null +++ b/examples/resources/src/main/java/sources/HardwareIntro.java @@ -0,0 +1,81 @@ +/* + * Copyright 2026 FRCSoftware + * + * SPDX-License-Identifier: BSD-3-Clause + */ +import org.wpilib.command3.Mechanism; +import org.wpilib.hardware.discrete.DigitalInput; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.imu.OnboardIMU.MountOrientation; +import org.wpilib.math.geometry.Rotation2d; + +public class HardwareIntro { + // [intake] + public class Intake implements Mechanism { + // Placeholder for TalonFX, SparkMax or SparkFlex + private final ExampleMotor motor = new ExampleMotor(0, CANBus.systemcore(0)); + + public Command runIntake() { + return run(coroutine -> { + while (true) { + motor.set(0.8); + coroutine.yield(); + } + }) + .named("Run Intake"); + } + + public Command stopIntake() { + return run(coroutine -> { + while (true) { + motor.set(0.0); + coroutine.yield(); + } + }) + .named("Stop Intake"); + } + } + // [/intake] + + // [turret] + public class Turret implements Mechanism { + // Placeholder for magnetic encoder + private final ExampleEncoder encoder = new ExampleEncoder(1, CANBus.systemcore(0)); + + public Rotation2d getEncoderPosition() { + double position = encoder.getAbsolutePosition().getValue().in(Rotations) * ENCODER_MECHANISM_RATIO; + return Rotation2d.fromRotations(position); + } + } + // [/turret] + + // [climber] + public class Climber implements Mechanism { + private final DigitalInput limitSwitch = new DigitalInput(2); + + public boolean isLimitSwitchPressed() { + return !limitSwitch.get(); + } + } + // [/climber] + + // [indexer] + public class Indexer implements Mechanism { + private final DigitalInput beamBrake = new DigitalInput(3); + + public boolean isBeanBakeTripped() { + return !beanBake.get(); + } + } + // [/indexer] + + // [drivetrain] + public class Drivetrain implements Mechanism { + private final OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT); + + public Rotation2d getHeading() { + return imu.getRotation2d(); + } + } + // [/drivetrain] +} diff --git a/examples/resources/vendordeps/CommandsV3.json b/examples/resources/vendordeps/CommandsV3.json new file mode 100644 index 00000000..f406bde7 --- /dev/null +++ b/examples/resources/vendordeps/CommandsV3.json @@ -0,0 +1,25 @@ +{ + "fileName": "CommandsV3.json", + "name": "Commands v3", + "version": "1.0.0", + "uuid": "4decdc05-a056-46cf-9561-39449bbb0130", + "wpilibYear": "2027_alpha5", + "mavenUrls": [], + "jsonUrl": "", + "conflictsWith": [ + { + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.", + "offlineFileName": "CommandsV2.json" + } + ], + "javaDependencies": [ + { + "groupId": "org.wpilib", + "artifactId": "commands3-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} diff --git a/public/hardware-intro/spark-max-motor-controller.webp b/public/hardware-intro/spark-max-motor-controller.webp new file mode 100644 index 00000000..339a8ec4 Binary files /dev/null and b/public/hardware-intro/spark-max-motor-controller.webp differ diff --git a/public/hardware-intro/talonfx-motor-controller.webp b/public/hardware-intro/talonfx-motor-controller.webp new file mode 100644 index 00000000..8329aa86 Binary files /dev/null and b/public/hardware-intro/talonfx-motor-controller.webp differ diff --git a/src/components/ContentCard.astro b/src/components/ContentCard.astro new file mode 100644 index 00000000..182308c0 --- /dev/null +++ b/src/components/ContentCard.astro @@ -0,0 +1,83 @@ +--- +import type { HTMLAttributes } from 'astro/types'; + +interface Props extends Omit, 'title'> { + title: string; + description?: string; + eyebrow?: string; + href: string; +} + +const { title, description, eyebrow, href, ...attributes } = Astro.props; +--- + + + {eyebrow &&

{eyebrow}

} +

{title}

+ {description &&

{description}

} + + + + + diff --git a/src/components/ContentTitleBar.astro b/src/components/ContentTitleBar.astro new file mode 100644 index 00000000..21cc1909 --- /dev/null +++ b/src/components/ContentTitleBar.astro @@ -0,0 +1,48 @@ +--- +interface Props { + label?: string; + title: string; + description?: string; +} + +const { label, title, description } = Astro.props; +--- + +
+ {label &&

{label}

} +

{title}

+ {description &&

{description}

} +
+ + diff --git a/src/config/sidebarConfig.ts b/src/config/sidebarConfig.ts index 400bb706..21e3dad8 100644 --- a/src/config/sidebarConfig.ts +++ b/src/config/sidebarConfig.ts @@ -303,15 +303,22 @@ export const sidebarSections: Record = { ], // Resources section (content lives at /resources but navbar says "Other Resources") - // '/resources': [ - // { - // label: 'Resources', - // items: [ - // { label: 'Overview', slug: 'resources' }, - // { label: 'Glossary', slug: 'resources/glossary' }, - // ], - // }, - // ], + '/resources': [ + { + label: 'Resources', + items: [ + { label: 'Overview', slug: 'resources/overview' }, + { + label: 'Glossary', + slug: 'resources/glossary', + }, + { + label: 'Hardware', + slug: 'resources/hardware-intro', + }, + ], + }, + ], }; /** diff --git a/src/content/docs/index.mdx b/src/content/docs/index.mdx index 0e308db8..32ab99f7 100644 --- a/src/content/docs/index.mdx +++ b/src/content/docs/index.mdx @@ -28,6 +28,12 @@ import HomeCard from '../../components/HomeCard.astro'; icon="book" description="A guide for educators implementing the FRCSoftware.org Learning Course." /> + + + + + + + + + diff --git a/src/data/glossary.ts b/src/data/glossary.ts index 7f7f90b5..d8453486 100644 --- a/src/data/glossary.ts +++ b/src/data/glossary.ts @@ -99,6 +99,16 @@ export const glossaryTerms: GlossaryTerm[] = [ definition: 'GitHub is like Google Drive, but for code. It hosts git repositories and allows for improved collaboration on projects through pull requests and issues', }, + { + term: 'Heading', + definition: + 'The direction the robot is pointed, usually expressed as an angle in degrees', + }, + { + term: 'Odometry', + definition: + 'Using sensors on the robot to create an estimate of the pose of the robot on the field.', + }, ]; /** diff --git a/src/starlightOverrides/Header.astro b/src/starlightOverrides/Header.astro index d8ce178d..ca35b45e 100644 --- a/src/starlightOverrides/Header.astro +++ b/src/starlightOverrides/Header.astro @@ -13,6 +13,7 @@ const navLinks = [ { href: '/learning-course/', label: 'Learning Course' }, { href: '/educators-guide/introduction/', label: "Educator's Guide" }, { href: '/best-practices/overview', label: 'Best Practices' }, + { href: '/resources/overview', label: 'Other Resources' }, { href: '/contribution/', label: 'Contribution' }, ];