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build.gradle
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build.gradle
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plugins {
id "java"
id "idea"
id "edu.wpi.first.GradleRIO" version "2024.3.2"
id "com.peterabeles.gversion" version "1.10"
}
java {
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
}
def ROBOT_MAIN_CLASS = "com.team254.frc2024.Main"
final MAX_JAVA_HEAP_SIZE_MB = 100;
// 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')) {
// TO ENTER PROFILE MODE:
// Run: ./gradlew deploy -PprofileMode
// -- do not do this unless you want profiling mode, it can slow the robot down.
project.logger.lifecycle('Checking if profile mode...')
//Enter profile mode with ./gradlew deploy -PprofileMode
if (frc.project.hasProperty("profileMode")) {
project.logger.lifecycle('Debug mode enabled!')
project.logger.lifecycle("Connect JMX client to roborio-" + team + "-frc.local:1099 or " + "10." + (team / 100) + ".2" + ":1099 for RoboRIO profiling with visualvm.")
jvmArgs.add("-Dcom.sun.management.jmxremote=true")
jvmArgs.add("-Dcom.sun.management.jmxremote.port=1099")
jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
jvmArgs.add("-Djava.rmi.server.hostname=" + "10." + (team / 100) + ".2")
}
gcType = 'other'
// jvmArgs.add("-Don.robot=true") // This won't be used in simulation
// jvmArgs.add("-Dcom.sun.management.jmxremote=true")
// jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
// jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
// jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
// jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
// jvmArgs.add("-Djava.rmi.server.hostname=10.34.76.2")
jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
// Set the minimum heap size to the maximum heap size to avoid resizing
jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M")
jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M")
jvmArgs.add("-XX:GCTimeRatio=5")
//jvmArgs.add("-ea") // Enable assertions
jvmArgs.add("-XX:+UseSerialGC")
jvmArgs.add("-XX:MaxGCPauseMillis=50")
jvmArgs.add("-XX:+AlwaysPreTouch")// Pre-touch memory pages used by the JVM during initialization
//jvmArgs.add("-XX:+ParallelRefProcEnabled") // Use multiple threads to clean up reference objects
// Causes GC to write to file system which can cause major latency if disk IO is high -- See https://www.evanjones.ca/jvm-mmap-pause.html
//jvmArgs.add("-XX:+PerfDisableSharedMem")
}
// Static files artifact
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
predeploy << { execute 'rm -rf /home/lvuser/deploy' }
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
}
}
}
}
}
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 = 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()
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 'org.junit.jupiter:junit-jupiter:5.10.1'
testImplementation 'org.junit.platform:junit-platform-launcher:1.8.2'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
implementation 'com.alibaba:fastjson:2.0.28'
def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
}
test {
useJUnitPlatform()
systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
}
simulateJavaRelease {
project.logger.lifecycle('Checking if replay mode...')
if (frc.project.hasProperty("replay")) {
project.logger.lifecycle('Replay mode activated!')
args '--replay'
}
}
// 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) } }
from sourceSets.main.allSource
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'
}
// Create version file
project.compileJava.dependsOn(createVersionFile)
gversion {
srcDir = "src/main/java/"
classPackage = "com.team254.frc2024"
className = "BuildConstants"
dateFormat = "yyyy-MM-dd HH:mm:ss z"
timeZone = "America/Los_Angeles"
indent = " "
}
// Advantage Kit
repositories {
maven {
url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
credentials {
username = "Mechanical-Advantage-Bot"
password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
}
}
mavenLocal()
}
configurations.all {
exclude group: "edu.wpi.first.wpilibj"
}
task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
mainClass = "org.littletonrobotics.junction.CheckInstall"
classpath = sourceSets.main.runtimeClasspath
}
compileJava.finalizedBy checkAkitInstall