Starting javafx

settings.gradle

@@ -15,6 +15,7 @@ if(build_simulator_java)
 
 include 'snobot_sim_utilities'
 include 'snobot_sim_gui'
+include 'snobot_sim_gui_javafx'
 include 'snobot_sim_joysticks'
 include 'snobot_sim_example_robot'
 

snobot_sim_gui/build.gradle

@@ -29,7 +29,8 @@ dependencies {
 
 
     // 3rd Party
-    native3rdPartyDeps  'net.java.jinput:jinput:2.0.9'
+    compile  'net.java.jinput:jinput:2.0.9'
+    wpilibNativeDeps  'net.java.jinput:jinput:2.0.9:natives-all'
     compile 'jfree:jcommon:1.0.16'
     compile 'jfree:jfreechart:1.0.13'
     compile 'org.apache.logging.log4j:log4j-api:2.12.0'

snobot_sim_gui_javafx/build.gradle

@@ -0,0 +1,128 @@
+
+evaluationDependsOn(':snobot_sim_utilities')
+evaluationDependsOn(':sim_adx_family')
+evaluationDependsOn(':sim_extension_navx')
+
+ext
+{
+    baseId = "snobot_sim_gui_javafx"
+}
+
+apply from: "${rootDir}/common/base_java_script.gradle"
+
+configurations {
+    native3rdPartyDeps
+    compile.extendsFrom(native3rdPartyDeps)
+}
+
+configurations.maybeCreate("wpilibNativeDeps")
+dependencies {
+
+    compile "org.openjfx:javafx-base:11:win"
+    compile "org.openjfx:javafx-graphics:11:win"
+    compile "org.openjfx:javafx-controls:11:win"
+    compile "org.openjfx:javafx-fxml:11:win"
+
+    // WPILib
+    compile 'edu.wpi.first.wpilibj:wpilibj-java:' + allwpilibVersion()
+    compile 'edu.wpi.first.wpiutil:wpiutil-java:' + getWpiUtilVersion()
+    compile 'edu.wpi.first.cscore:cscore-java:' + getCsCoreVersion()
+    runtime 'edu.wpi.first.cscore:cscore-jni:' + getCsCoreVersion() + ':all'
+    compile 'edu.wpi.first.ntcore:ntcore-java:' + getNtCoreVersion()
+    runtime 'edu.wpi.first.ntcore:ntcore-jni:' + getNtCoreVersion() + ':all'
+    runtime 'edu.wpi.first.hal:hal-jni:' + allwpilibVersion() + ':all'
+    compile 'org.opencv:opencv-java:' + getWpilibOpencvVersion()
+    runtime 'org.opencv:opencv-jni:' + getWpilibOpencvVersion() + ':all'
+
+    // 3rd Party
+    compile  'net.java.jinput:jinput:2.0.9'
+    wpilibNativeDeps  'net.java.jinput:jinput:2.0.9:natives-all'
+    compile 'jfree:jcommon:1.0.16'
+    compile 'jfree:jfreechart:1.0.13'
+    compile 'org.apache.logging.log4j:log4j-api:2.11.0'
+    compile 'org.apache.logging.log4j:log4j-core:2.11.0'
+    compile 'org.yaml:snakeyaml:1.18'
+    compile 'com.miglayout:miglayout-swing:4.2'
+    //compile 'org.python:jython:2.7.1b3'
+
+    // Internal
+    compile project(":snobot_sim_utilities")
+    compile project(":snobot_sim_joysticks")
+
+    if(build_simulator_cpp)
+    {
+        compile project(":snobot_sim_jni")
+        wpilibNativeDeps project(':snobot_sim_jni').packageNativeFiles.outputs.files
+    }
+
+    if(build_simulator_java)
+    {
+        compile project(":snobot_sim_java")
+        wpilibNativeDeps project(':sim_extension_navx').packageNativeFiles.outputs.files
+        wpilibNativeDeps project(':sim_adx_family').packageNativeFiles.outputs.files
+    }
+
+    // Test
+    testCompile 'org.junit.jupiter:junit-jupiter-api:5.2.0'
+    testRuntime 'org.junit.jupiter:junit-jupiter-engine:5.2.0'
+    testRuntime 'org.junit.platform:junit-platform-launcher:1.2.0'
+    runtime 'com.snobot.simulator:ctre_sim_override:' + getCtreSimVersion() + ':all'
+    runtime 'com.snobot.simulator:rev_simulator:' + getRevRoboticsSimVersion() + ':all'
+}
+
+apply from: "${rootDir}/common/extract_native_libraries.gradle"
+test.dependsOn extract_wpilib
+
+
+task unzipNativeLibraries(type: Copy) {
+
+    configurations.native3rdPartyDeps.each {
+        from zipTree(it)
+        into "build/native_libs"
+        include "**/*.dll"
+        include "**/*.lib"
+        include "**/*.pdb"
+        include "**/*.so*"
+        include "**/*.a"
+        include "**/*.dylib*"
+    }
+
+    includeEmptyDirs = false
+
+}
+
+eclipse.classpath.file {
+    whenMerged { classpath ->
+        classpath.entries.each {
+            if(it.path.contains("jinput") && !it.path.contains("natives")) {
+                it.setNativeLibraryLocation("snobot_sim_gui_javafx/build/native_libs")
+            }
+        }
+    }
+}
+
+build.dependsOn unzipNativeLibraries
+
+if(build_simulator_cpp)
+{
+    compileJava.dependsOn(":snobot_sim_jni:build")
+}
+if(build_simulator_java)
+{
+    compileJava.dependsOn(":snobot_sim_java:build")
+}
+
+sourceSets.main.java.srcDir "${buildDir}/generated/java/"
+compileJava {
+    apply from: "${rootDir}/common/create_version_file.gradle"
+    createJavaVersion("com/snobot/simulator", "SnobotSimGuiVersion", "com.snobot.simulator", getVersionName())
+}
+
+clean {
+    delete "src/main/java/com/snobot/simulator/SnobotSimGuiVersion.java"
+}
+
+
+spotbugs {
+    ignoreFailures = true
+}

snobot_sim_gui_javafx/src/main/java/com/snobot/simulator/BaseSimulator.java

@@ -0,0 +1,45 @@
+package com.snobot.simulator;
+
+import com.snobot.simulator.config.v1.SimulatorConfigReaderV1;
+import com.snobot.simulator.robot_container.IRobotClassContainer;
+
+/**
+ * Base class for a custom simulator.
+ *
+ * @author PJ
+ *
+ */
+public class BaseSimulator implements ISimulatorUpdater
+{
+    private final SimulatorConfigReaderV1 mConfigReader;
+    private String mConfigFile;
+
+    protected BaseSimulator()
+    {
+        mConfigReader = new SimulatorConfigReaderV1();
+    }
+
+    public boolean loadConfig(String aConfigFile)
+    {
+        mConfigFile = aConfigFile;
+        return mConfigReader.loadConfig(mConfigFile);
+    }
+
+
+    @Override
+    public void update()
+    {
+        // Nothing to do
+    }
+
+    @Override
+    public void setRobot(IRobotClassContainer aRobot)
+    {
+        // Nothing to do
+    }
+
+    public String getConfigFile()
+    {
+        return mConfigFile;
+    }
+}

snobot_sim_gui_javafx/src/main/java/com/snobot/simulator/DefaultDataAccessorFactory.java

@@ -0,0 +1,28 @@
+package com.snobot.simulator;
+
+import com.snobot.simulator.wrapper_accessors.DataAccessorFactory;
+import com.snobot.simulator.wrapper_accessors.java.JavaDataAccessor;
+
+/**
+ * Helper class that sets up the data accessor abstraction layer
+ *
+ * @author PJ
+ *
+ */
+public final class DefaultDataAccessorFactory
+{
+    private static final boolean sINITIALIZED = false;
+
+    private DefaultDataAccessorFactory()
+    {
+
+    }
+
+    public static void initalize()
+    {
+        if (!sINITIALIZED)
+        {
+            DataAccessorFactory.setAccessor(new JavaDataAccessor());
+        }
+    }
+}

snobot_sim_gui_javafx/src/main/java/com/snobot/simulator/ISimulatorUpdater.java

@@ -0,0 +1,11 @@
+package com.snobot.simulator;
+
+import com.snobot.simulator.robot_container.IRobotClassContainer;
+
+public interface ISimulatorUpdater
+{
+
+    public abstract void update();
+
+    public abstract void setRobot(IRobotClassContainer aRobot);
+}

snobot_sim_gui_javafx/src/main/java/com/snobot/simulator/Main.java

@@ -0,0 +1,22 @@
+package com.snobot.simulator;
+
+import com.sun.javafx.application.LauncherImpl;
+
+public final class Main
+{
+    private Main()
+    {
+
+    }
+
+    public static void main(String[] aArgs)
+    {
+        DefaultDataAccessorFactory.initalize();
+
+        // JavaFX 11+ uses GTK3 by default, and has problems on some display
+        // servers
+        // This flag forces JavaFX to use GTK2
+        // System.setProperty("jdk.gtk.version", "2");
+        LauncherImpl.launchApplication(SimulatorApplication.class, SimulatorPreloader.class, aArgs);
+    }
+}

snobot_sim_gui_javafx/src/main/java/com/snobot/simulator/RobotContainerFactory.java

@@ -0,0 +1,51 @@
+package com.snobot.simulator;
+
+import java.io.File;
+
+import org.apache.logging.log4j.Level;
+import org.apache.logging.log4j.LogManager;
+
+import com.snobot.simulator.robot_container.CppRobotContainer;
+import com.snobot.simulator.robot_container.IRobotClassContainer;
+import com.snobot.simulator.robot_container.JavaRobotContainer;
+
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public final class RobotContainerFactory
+{
+    private RobotContainerFactory()
+    {
+
+    }
+
+    public static IRobotClassContainer createRobotContainer(File aConfigDirectory, String aRobotType, String aRobotClassName)
+            throws ReflectiveOperationException
+    {
+        LogManager.getLogger(RobotContainerFactory.class).log(Level.INFO, "Starting Robot Code");
+
+        IRobotClassContainer mRobot;
+
+        if (aRobotType == null || "java".equals(aRobotType))
+        {
+            mRobot = new JavaRobotContainer(aRobotClassName);
+        }
+        else if ("cpp".equals(aRobotType))
+        {
+            mRobot = new CppRobotContainer(aRobotClassName);
+        }
+        else
+        {
+            throw new RuntimeException("Unsupported robot type " + aRobotType);
+        }
+
+        mRobot.constructRobot();
+
+        // Change the network table preferences path. Need to start
+        // the robot, stop the server and restart it
+        NetworkTableInstance inst = NetworkTableInstance.getDefault();
+        inst.stopServer();
+        inst.startServer(aConfigDirectory.toString() + "/networktables.ini");
+
+        return mRobot;
+    }
+}