SwerveIO/build.gradle

/*
 * SwerveIO - A versatile open-source FRC swerve drive library.
 *
 * Copyright (C) 2019-2024 Jordan Bancino <jordan@bancino.net>
 *
 * This program is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published with this
 * source code. You should have received a copy of the GNU General Public
 * License with this program. If you did not, contact the distributors of
 * this program and view it here: https://bancino.net/licenses/gpl-3.0.txt
 *
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
 * more details.
 */
/*
 * SwerveIO core build script. This is the master build script that holds the common
 * project configuration for all SwerveIO subprojects, as well as the main SwerveIO
 * core project.
 */
import org.apache.tools.ant.taskdefs.condition.Os

def versions = [
    'SwerveIO': '8.0.3',
    'WPILib': '2023.4.3',
    'OpenCV': '4.6.0-4',
    'Jackson': '2.12.4'
]

/* Not all "projects" are actual projects. This filters out the ones that aren't. */
def matchProject = { Project proj ->
    return file("${proj.getProjectDir()}/build.gradle").exists()
}

/*
 * Check if there is an internet connection. This is used to dynamically
 * disable build functionality that requires a connection, because those
 * functions will fail when we are at a competition.
 *
 * This function checks if the --offline was specified before attempting to
 * establish a connection.
 */
def isOnline = {
    /* If we know we're in offline mode, we already know the answer. */
    if (project.getGradle().startParameter.isOffline()) {
        return false
    } else {
        /* There may or may not be an available internet connection. */
        try {
            final URL url = new URL("http://wpilib.org")
            final URLConnection conn = url.openConnection()
            conn.connect()
            conn.getInputStream().close()
            return true
        } catch (MalformedURLException e) {
            throw new RuntimeException(e)
        } catch (IOException e) {
            return false
        }
    }
}

/* Add external javadoc links if an internet connection is available. */
def javadocAddLinks = { Project proj, String... urls ->
    if (isOnline()) {
        configure (proj) {
            javadoc {
                for (String url : urls) {
                    options.getLinks().add(url)
                }
            }
        }
    }
}

/* Execute a command on the operating system. */
def osExec = { String command, List arguments ->
    new ByteArrayOutputStream().withStream { OutputStream os ->
        exec {
            executable = command
            args = arguments  
            standardOutput = os
        }
        return os.toString()
    }
}

def lsRecursive
lsRecursive = {File dir, String matches ->
    def list = []
    dir.listFiles().sort().each { File file ->
        if (file.isFile()) {
            if (file.getName().matches(matches)) {
                list += file
            }
        } else {
            list += lsRecursive(file, matches)
        }
    }
    
    return list
}

/* Export methods and variables to subprojects. */
rootProject.ext.versions = versions

rootProject.ext.isOnline = isOnline
rootProject.ext.javadocAddLinks = javadocAddLinks

/* Root project tasks */
task updateHeaders() {
    doLast {
        def header = file("${projectDir}/header.txt")
        def patch =  file("${projectDir}/header.patch")

        patch.text = osExec('git', ['diff', "$header"])

        if (!patch.text.isEmpty()) {
            def patchFiles = lsRecursive(file("${projectDir}"), '^.*\\.(gradle|java)$')
            for (File file : patchFiles) {
                println "Patching '$file'..."
                osExec('patch', ["$file", "$patch"])
            }
            def deleteFiles = lsRecursive(file("${projectDir}"), '^.*\\.orig$')
            for (File file : deleteFiles) {
                file.delete()
            }
            osExec('git', ['commit', "$header", '-m', 'Update header.'])
        } else {
            println "Headers up to date."
        }
        patch.delete()
    }
}

/* Common configuration for all projects. */
configure(allprojects.findAll { matchProject(it) }) {
    /* Java plugins */
    apply plugin: 'java-library'
    apply plugin: 'maven-publish'

    /* Maven metadata */
    group = 'net.bancino.robotics'
    version = versions.SwerveIO

    java {
        /* Java 11 */
        sourceCompatibility = 11
        targetCompatibility = 11
    }

    /*
     * SwerveIO doesn't need any of this stuff without internet. This
     * will dramatically speed up the time it takes to build SwerveIO,
     * which can be helpful at competitions when things need to happen
     * quickly.
     */
    if (isOnline()) {
        /* Maven jars - for documentation and IDE support. */
        java {
            withJavadocJar()
            withSourcesJar()
        }

        /* All Javadocs should link to the standard Javadoc, and the WPILib Javadoc */
        javadocAddLinks(project, 
            'https://docs.oracle.com/en/java/javase/11/docs/api/',
            'https://github.wpilib.org/allwpilib/docs/release/java/'
        )
    }

    /* All artifacts go to the root repo. */
    def repoUrl = "${rootProject.buildDir}/repo"

    /* Publish to a local repo that can be published separately. */
    publishing {
        publications {
            /* Artifact is derived from the project name. */
            mavenJava(MavenPublication) {
                artifactId = project.getName()
                from project.components.java
            }
        }
        
        repositories {
            maven {
                url = repoUrl
            }
        }
    }

    /* Common Javadoc configuration. */
    javadoc {
        options.overview = "${projectDir}/src/javadoc/overview.html"
        options.setWindowTitle("${project.getName()} ${project.version} User Documentation")
        /* All javadocs go to the root directory. */
        options.destinationDirectory(file("${rootProject.docsDir}/${project.getName()}"))
    }


    /*
     * Dependency repositories. All repositories must be shared across all projects so that they can include
     * each other without duplicating the repository requirements.
     */
    repositories {
        /* Jackson XML */
        mavenCentral()

        /* WPILib */
        maven {
            url 'https://frcmaven.wpi.edu/artifactory/release'
        }

        /* Vendor: CTRE */
        maven {
            url 'https://maven.ctr-electronics.com/release'
        }

        /* Vendor: RevRobotics */
        maven {
            url 'https://maven.revrobotics.com/'
        }

        /* Vendor: KauaiLabs */
        maven {
            url 'https://dev.studica.com/maven/release/2023/'
        }
    }

    /* Generate GradleRIO vendor Json files that can be dropped into vendordeps/ */
    task generateVendorJson() {
        def jsonFile = "${project.getName()}.json"
        def repoList = {
            def str = ""
            repositories.each {
                str += "\"${it.url}\", "
            }
            return str.substring(0, str.length() - 2)
        }
        def outputDir = file(repoUrl)
        doLast {
            outputDir.mkdirs()
            file("${outputDir}/${jsonFile}").text =
"""{
    "cppDependencies": [],
    "fileName": "${jsonFile}",
    "javaDependencies": [
        {
            "artifactId": "${project.getName()}",
            "groupId": "${project.group}",
            "version": "${version}"
        }
    ],
    "jniDependencies": [],
    "jsonUrl": "",
    "mavenUrls": [
        ${repoList()}
    ],
    "name": "${project.getName()}",
    "uuid": "${project.group}:${project.getName()}",
    "version": "${version}"
}
"""
        }
    }

    /* When publishing Maven artifacts, also generate vendor JSON. */
    publish.dependsOn generateVendorJson

    /* All common dependencies go here. */
    dependencies {
        /* WPILib */
        api "edu.wpi.first.wpilibj:wpilibj-java:${versions.WPILib}"
        api "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:${versions.WPILib}"
        api "edu.wpi.first.wpimath:wpimath-java:${versions.WPILib}"

        /*
         * The SwerveIO core itself doesn't use these artifacts, but the vendor dependencies,
         * included in the subprojects may, so we include them here to ensure that they are the
         * same version across the board. I noticed, for example, that the NavX library would
         * pull older versions of these artifacts than what SwerveIO was using, so we do this to
         * make everything line up.
         */

        api "edu.wpi.first.cscore:cscore-java:${versions.WPILib}"
        api "edu.wpi.first.cameraserver:cameraserver-java:${versions.WPILib}"
        api "edu.wpi.first.ntcore:ntcore-java:${versions.WPILib}"
        api "edu.wpi.first.wpiutil:wpiutil-java:${versions.WPILib}"
        api "edu.wpi.first.hal:hal-java:${versions.WPILib}"

        /* Required by WPILib - Make sure this lines up with the version specified by WPILib */
        api "edu.wpi.first.thirdparty.frc2023.opencv:opencv-java:${versions.OpenCV}"

        /* Required by WPILib - Gradle emits warnings if this isn't included. */
        implementation "com.fasterxml.jackson.core:jackson-annotations:${versions.Jackson}"

        /* Unit testing */
        testImplementation 'org.junit.jupiter:junit-jupiter-api:+'
        testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:+'

        /* Convert OS into WPILib platform */
        def platform
        if (Os.isFamily(Os.FAMILY_WINDOWS)) {
            platform = 'windowsx86-64'
        } else if (Os.isFamily(Os.FAMILY_MAC)) {
            platform = 'osxx86-64'
        } else if (Os.isFamily(Os.FAMILY_UNIX)) {
            platform = 'linuxx86-64'
        } else {
            throw new GradleException("Unrecognized operating system.")
        }

        /* JNI stuff so WPILib can run on the desktop. */
        testImplementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-jni:${versions.OpenCV}:${platform}@jar"
        testImplementation "edu.wpi.first.hal:hal-jni:${versions.WPILib}:${platform}@jar"
        testImplementation "edu.wpi.first.wpiutil:wpiutil-jni:${versions.WPILib}:${platform}@jar"
        testImplementation "edu.wpi.first.ntcore:ntcore-jni:${versions.WPILib}:${platform}@jar"
        testImplementation "edu.wpi.first.cscore:cscore-jni:${versions.WPILib}:${platform}@jar"
    }

    test {
        useJUnitPlatform()
        testLogging {
            showStandardStreams = true
        }
    }
}

/* Common configuration for subprojects only. */
configure(subprojects.findAll { matchProject(it) }) {
    /* All subprojects depend on the core SwerveIO project */
    dependencies {
        api rootProject
    }
}