Multiproject build

.gitattributes

@@ -0,0 +1,6 @@
+#
+# https://help.github.com/articles/dealing-with-line-endings/
+#
+# These are explicitly windows files and should use crlf
+*.bat           text eol=crlf
+

.gitignore

@@ -136,7 +136,7 @@ $RECYCLE.BIN/
 
 ### Gradle ###
 .gradle
-/build/
+build/
 
 # Ignore Gradle GUI config
 gradle-app.setting

.vscode/settings.json

@@ -2,6 +2,7 @@
   "java.configuration.updateBuildConfiguration": "automatic",
   "editor.formatOnSave": true,
   "editor.formatOnPaste": true,
+  "kotlin.compiler.jvm.target": "1.8",
   "files.exclude": {
     "**/.git": true,
     "**/.svn": true,
@@ -16,4 +17,4 @@
     "**/.settings": true,
     "**/.factorypath": true
   }
-}
+}

buildSrc/build.gradle

@@ -0,0 +1,13 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ */
+
+plugins {
+    // Support convention plugins written in Groovy. Convention plugins are build scripts in 'src/main' that automatically become available as plugins in the main build.
+    id 'groovy-gradle-plugin'
+}
+
+repositories {
+    // Use the plugin portal to apply community plugins in convention plugins.
+    gradlePluginPortal()
+}

buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-application-conventions.gradle

@@ -0,0 +1,11 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ */
+
+plugins {
+    // Apply the common convention plugin for shared build configuration between library and application projects.
+    id 'com.chopshop166.chopshoplib.java-common-conventions'
+
+    // Apply the application plugin to add support for building a CLI application in Java.
+    id 'application'
+}

buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-common-conventions.gradle

@@ -0,0 +1,21 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ */
+
+plugins {
+    // Apply the java Plugin to add support for Java.
+    id 'java'
+}
+
+dependencies {
+    // Use JUnit Jupiter API for testing.
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.7.2'
+
+    // Use JUnit Jupiter Engine for testing.
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine'
+}
+
+tasks.named('test') {
+    // Use junit platform for unit tests.
+    useJUnitPlatform()
+}

build.gradle → buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-library-conventions.gradle

@@ -1,15 +1,22 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ */
+
 plugins {
-    id "java-library"
-    id "pmd"
+    // Apply the common convention plugin for shared build configuration between library and application projects.
+    id 'com.chopshop166.chopshoplib.java-common-conventions'
+
+    // Apply the java-library plugin for API and implementation separation.
+    id 'java-library'
+
+    id 'pmd'
     id 'maven-publish'
-    id "com.github.spotbugs" version "4.7.2"
-    id "edu.wpi.first.GradleRIO" version "2021.3.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
 targetCompatibility = JavaVersion.VERSION_11
 
-group = 'com.chopshop166'
+group = 'com.chopshop166.chopshoplib'
 
 repositories {
     mavenCentral()
@@ -18,14 +25,6 @@ repositories {
 
 dependencies {
 
-    implementation wpi.deps.wpilib()
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
-
-    implementation wpi.deps.vendor.java()
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
-
-    implementation group: 'com.google.guava', name: 'guava', version: '30.1-jre'
-
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.7.2'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.7.2'
 }
@@ -39,14 +38,6 @@ java {
     withSourcesJar()
 }
 
-publishing {
-    publications {
-        chopshoplib(MavenPublication) {
-            from components.java
-        }
-    }
-}
-
 spotbugsMain {
     reports {
         xml {
@@ -68,7 +59,3 @@ pmd {
     ruleSets = []
     ruleSetFiles = files("$rootProject.projectDir/config/pmd-ruleset.xml")
 }
-
-wrapper {
-    gradleVersion = '6.9'
-}

config/findbugs-ignore.xml

@@ -6,7 +6,7 @@
         <Bug pattern="URF_UNREAD_PUBLIC_OR_PROTECTED_FIELD"/>
     </Match>
     <Match>
-        <Bug pattern="EI_EXPOSE_REP,EI_EXPOSE_REP2"/>
+        <Bug pattern="EI_EXPOSE_REP,EI_EXPOSE_REP2,MS_EXPOSE_REP"/>
     </Match>
 
 </FindBugsFilter>

core/build.gradle

@@ -0,0 +1,21 @@
+plugins {
+    id 'com.chopshop166.chopshoplib.java-library-conventions'
+    id 'com.github.spotbugs' version '4.7.3'
+    id 'edu.wpi.first.GradleRIO' version '2021.3.1'
+}
+
+dependencies {
+
+    api wpi.deps.wpilib()
+    api wpi.deps.vendor.java()
+
+    implementation group: 'com.google.guava', name: 'guava', version: '30.1-jre'
+}
+
+publishing {
+    publications {
+        core(MavenPublication) {
+            from components.java
+        }
+    }
+}

core/src/main/java/com/chopshop166/chopshoplib/Dashboard.kt

@@ -0,0 +1,93 @@
+@file:OptIn(kotlin.experimental.ExperimentalTypeInference::class)
+package com.chopshop166.chopshoplib
+
+import edu.wpi.cscore.VideoSink
+import edu.wpi.cscore.VideoSource
+import edu.wpi.first.cameraserver.CameraServer
+import edu.wpi.first.wpilibj.Sendable
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardContainer
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
+
+class DashboardWrapper internal constructor () {
+    operator fun set(name: String, value: Sendable) = (name displays value)
+    operator fun set(name: String, value: Boolean) = (name displays value)
+    operator fun set(name: String, value: String) = (name displays value)
+    operator fun set(name: String, value: Double) = (name displays value)
+    operator fun set(name: String, value: Int) = (name displays value)
+
+    operator fun get(name: String) = SmartDashboard.getData(name)
+
+    operator fun invoke(block: DashboardWrapper.() -> Unit = {}) = apply(block)
+
+    infix fun String.displays(value: Sendable) = SmartDashboard.putData(this, value)
+    infix fun String.displays(value: Boolean) = SmartDashboard.putBoolean(this, value)
+    infix fun String.displays(value: String) = SmartDashboard.putString(this, value)
+    infix fun String.displays(value: Double) = SmartDashboard.putNumber(this, value)
+    infix fun String.displays(value: Int) = SmartDashboard.putNumber(this, value.toDouble())
+
+    fun entry(name: String) = SmartDashboard.getEntry(name)
+}
+val dashboard = DashboardWrapper()
+
+class ShuffleboardContainerWrapper internal constructor (val con : ShuffleboardContainer) {
+
+    val title : String get() { return con.getTitle() }
+
+    operator fun set(name: String, value: Sendable) = name(value)
+    @OverloadResolutionByLambdaReturnType
+    @JvmName("setBoolean") operator fun set(name: String, value: () -> Boolean) = name(value)
+    @JvmName("setString") operator fun set(name: String, value: () -> String) = name(value)
+    @JvmName("setNumber") operator fun set(name: String, value: () -> Double) = name(value)
+    @JvmName("setInt") operator fun set(name: String, value: () -> Int) = name(value)
+
+    operator fun get(name: String) = ShuffleboardContainerWrapper(con.getLayout(name))
+    fun layout(name : String, block: ShuffleboardContainerWrapper.() -> Unit = {}) = this[name].run(block)
+
+    operator fun String.invoke(value: Sendable) = con.add(this, value)
+    @OverloadResolutionByLambdaReturnType
+    @JvmName("invokeBoolean") operator fun String.invoke(value: () -> Boolean) = con.addBoolean(this, value)
+    @JvmName("invokeString") operator fun String.invoke(value: () -> String) = con.addString(this, value)
+    @JvmName("invokeNumber") operator fun String.invoke(value: () -> Double) = con.addNumber(this, value)
+    @JvmName("invokeInt") operator fun String.invoke(value: () -> Int) = con.addNumber(this) { value().toDouble() }
+}
+fun shuffleboard(name : String, block: ShuffleboardContainerWrapper.() -> Unit = {}) = ShuffleboardContainerWrapper(Shuffleboard.getTab(name)).apply(block)
+
+class ChooserWrapper<T>(val chooser: SendableChooser<T>) {
+    infix fun String.default(value: T) { chooser.setDefaultOption(this, value) }
+    infix fun String.chooses(value: T) { chooser.addOption(this, value) }
+}
+
+inline fun <reified T> chooser(block: ChooserWrapper<T>.() -> Unit) = SendableChooser<T>().apply {
+    ChooserWrapper<T>(this).block()
+}
+
+class VideoSourceWrapper(val source: VideoSource) {
+    operator fun get(name: String) = source.getProperty(name).get()
+    operator fun set(name: String, value: Int) = source.getProperty(name).set(value)
+}
+
+class VideoSinkWrapper(val sink: VideoSink) {
+    operator fun get(name: String) = sink.getProperty(name).get()
+    operator fun set(name: String, value: Int) = sink.getProperty(name).set(value)
+}
+
+class CameraServerWrapper(private val base: CameraServer) {
+    fun server(block: VideoSinkWrapper.() -> Unit = {}) =
+        base.getServer().apply { VideoSinkWrapper(this).block() }
+    fun server(name: String, block: VideoSinkWrapper.() -> Unit = {}) =
+        base.getServer(name).apply { VideoSinkWrapper(this).block() }
+    fun source(block: VideoSourceWrapper.() -> Unit = {}) =
+        base.startAutomaticCapture().apply { VideoSourceWrapper(this).block() }
+    fun source(dev: Int, block: VideoSourceWrapper.() -> Unit = {}) =
+        base.startAutomaticCapture(dev).apply { VideoSourceWrapper(this).block() }
+    fun source(camera: VideoSource, block: VideoSinkWrapper.() -> Unit = {}) =
+        base.startAutomaticCapture(camera).apply { VideoSinkWrapper(this).block() }
+    fun source(name: String, dev: Int, block: VideoSourceWrapper.() -> Unit = {}) =
+        base.startAutomaticCapture(name, dev).apply { VideoSourceWrapper(this).block() }
+    fun source(name: String, path: String, block: VideoSourceWrapper.() -> Unit = {}) =
+        base.startAutomaticCapture(name, path).apply { VideoSourceWrapper(this).block() }
+}
+
+val cameraServer = CameraServerWrapper(CameraServer.getInstance())

core/src/main/java/com/chopshop166/chopshoplib/Utils.kt

@@ -0,0 +1,18 @@
+package com.chopshop166.chopshoplib
+
+import kotlin.math.max
+import kotlin.math.min
+import kotlin.math.pow
+import kotlin.math.withSign
+
+fun Double.clamped(minVal : Double, maxVal : Double) = max(minVal, min(maxVal, this))
+fun Float.clamped(minVal : Float, maxVal : Float) = max(minVal, min(maxVal, this))
+fun Int.clamped(minVal : Int, maxVal : Int) = max(minVal, min(maxVal, this))
+fun Long.clamped(minVal : Long, maxVal : Long) = max(minVal, min(maxVal, this))
+
+fun Double.signPow(exp : Double) = pow(exp).withSign(this)
+
+typealias BoolFunc = ()->Boolean
+operator fun BoolFunc.not() = {!this()}
+infix fun BoolFunc.and(other : BoolFunc) = {this() && other()}
+infix fun BoolFunc.or(other : BoolFunc) = {this() || other()}