[cmd] Commands v3 framework

BUILD.bazel

@@ -45,6 +45,7 @@ write_source_files(
         "//wpilibj:write_wpilibj",
         "//wpilibjExamples:write_example_project_list",
         "//wpilibNewCommands:write_wpilib_new_commands",
+        "//commandsv3:write_commandsv3",
         "//wpimath:write_wpimath",
         "//wpiunits:write_wpiunits",
         "//wpiutil:write_wpiutil",
@@ -88,6 +89,7 @@ publish_all(
         "//wpilibj:wpilibj-java_publish",
         "//wpilibNewCommands:wpilibNewCommands-cpp_publish",
         "//wpilibNewCommands:wpilibNewCommands-java_publish",
+        "//commandsv3:commandsv3-java_publish",
         "//wpimath:wpimath-cpp_publish",
         "//wpimath:wpimath-java_publish",
         "//wpinet:wpinet-cpp_publish",

commandsv3/BUILD.bazel

@@ -0,0 +1,88 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
+load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("//commandsv3:generate.bzl", "generate_commandsv3")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test", "wpilib_java_library")
+
+py_binary(
+    name = "generate_hids",
+    srcs = ["generate_hids.py"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    deps = [requirement("jinja2")],
+)
+
+filegroup(
+    name = "templates",
+    srcs = glob(["src/generate/main/**"]) + [
+        "//wpilibj:hid_schema",
+    ],
+)
+
+generate_commandsv3(
+    name = "generate_commandsv3",
+)
+
+write_source_files(
+    name = "write_commandsv3",
+    files = {
+        "src/generated": ":generate_commandsv3",
+    },
+    suggested_update_target = "//:write_all",
+    tags = ["pregeneration"],
+    visibility = ["//visibility:public"],
+)
+
+filegroup(
+    name = "generated_java",
+    srcs = glob(["src/generated/main/java/**/*.java"]),
+)
+
+wpilib_java_library(
+    name = "commandsv3-java",
+    srcs = glob(["src/main/java/**/*.java"]) + [":generated_java"],
+    maven_artifact_name = "commandsv3-java",
+    maven_group_id = "org.wpilib.commands3",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//cscore:cscore-java",
+        "//hal:hal-java",
+        "//ntcore:ntcore-java",
+        "//wpilibj:wpilibj-java",
+        "//wpimath:wpimath-java",
+        "//wpinet:wpinet-java",
+        "//wpiunits:wpiunits-java",
+        "//wpiutil:wpiutil-java",
+        "@maven//:us_hebi_quickbuf_quickbuf_runtime",
+    ],
+)
+
+wpilib_java_junit5_test(
+    name = "commandsv3-java-test",
+    srcs = glob(["**/*.java"]),
+    deps = [
+        ":commandsv3-java",
+        "//hal:hal-java",
+        "//ntcore:ntcore-java",
+        "//wpilibj:wpilibj-java",
+        "//wpimath:wpimath-java",
+        "//wpiunits:wpiunits-java",
+        "//wpiutil:wpiutil-java",
+        "@maven//:us_hebi_quickbuf_quickbuf_runtime",
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/org/wpilib/commands3/DevMain.java"],
+    main_class = "org.wpilib.commands3.DevMain",
+    deps = [
+        "//hal:hal-java",
+        "//ntcore:ntcore-java",
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)

commandsv3/CMakeLists.txt

@@ -0,0 +1,60 @@
+project(commandsv3)
+
+include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
+
+if(WITH_JAVA)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    add_jar(
+        commandsv3_jar
+        ${JAVA_SOURCES}
+        INCLUDE_JARS
+            hal_jar
+            ntcore_jar
+            cscore_jar
+            cameraserver_jar
+            wpimath_jar
+            wpiunits_jar
+            wpiutil_jar
+            wpilibj_jar
+        OUTPUT_NAME commandsv3
+    )
+
+    install_jar(commandsv3_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(
+        TARGETS commandsv3_jar
+        FILE commandsv3_jar.cmake
+        DESTINATION share/commandsv3
+    )
+endif()
+
+if(WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB commandsv3_SOURCES src/main/java/edu/wpi/first/wpilibj/commandsv3/*.java)
+    file(GLOB commandsv3_BUTTON_SOURCES src/main/java/edu/wpi/first/wpilibj2/command/button*.java)
+    add_jar(
+        commandsv3_src_jar
+        RESOURCES
+        NAMESPACE "edu/wpi/first/wpilibj/commandsv3" ${commandsv3_SOURCES}
+        NAMESPACE "edu/wpi/first/wpilibj/commandsv3/button" ${commandsv3_BUTTON_SOURCES}
+        OUTPUT_NAME commandsv3-sources
+    )
+
+    get_property(commandsv3_SRC_JAR_FILE TARGET commandsv3_src_jar PROPERTY JAR_FILE)
+    install(FILES ${commandsv3_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET commandsv3_src_jar PROPERTY FOLDER "java")
+endif()
+
+install(TARGETS commandsv3 EXPORT commandsv3)
+export(TARGETS commandsv3 FILE commandsv3.cmake NAMESPACE commandsv3::)
+
+configure_file(commandsv3-config.cmake.in ${WPILIB_BINARY_DIR}/commandsv3-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/commandsv3-config.cmake DESTINATION share/commandsv3)
+install(EXPORT commandsv3 DESTINATION share/commandsv3)

commandsv3/CommandsV3.json

@@ -0,0 +1,18 @@
+{
+  "fileName": "CommandsV3.json",
+  "name": "Commands v3",
+  "version": "1.0.0",
+  "uuid": "4decdc05-a056-46cf-9561-39449bbb0130",
+  "frcYear": "2024",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "org.wpilib.commands3",
+      "artifactId": "commandsv3-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": []
+}

commandsv3/build.gradle

@@ -0,0 +1,51 @@
+ext {
+    useJava = true
+    useCpp = false
+    baseId = 'commandsv3'
+    groupId = 'org.wpilib'
+
+    nativeName = 'commandsv3'
+    devMain = ''
+}
+
+apply from: "${rootDir}/shared/java/javacommon.gradle"
+
+evaluationDependsOn(':wpiutil')
+evaluationDependsOn(':ntcore')
+evaluationDependsOn(':hal')
+evaluationDependsOn(':wpimath')
+evaluationDependsOn(':wpilibj')
+
+dependencies {
+    implementation project(':wpiutil')
+    implementation project(':wpinet')
+    implementation project(':ntcore')
+    implementation project(':hal')
+    implementation project(':wpimath')
+    implementation project(':wpilibj')
+    api("us.hebi.quickbuf:quickbuf-runtime:1.3.3")
+    testImplementation 'org.mockito:mockito-core:4.1.0'
+}
+
+sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
+sourceSets.main.resources.srcDir "${projectDir}/src/main/proto"
+
+tasks.withType(Javadoc) {
+    options.addBooleanOption("-enable-preview", true)
+    options.addStringOption("-release", "21")
+}
+
+test {
+    testLogging {
+        outputs.upToDateWhen {false}
+        showStandardStreams = true
+    }
+    doFirst {
+        jvmArgs = [
+            '--add-opens',
+            'java.base/jdk.internal.vm=ALL-UNNAMED',
+            '--add-opens',
+            'java.base/java.lang=ALL-UNNAMED',
+        ]
+    }
+}

commandsv3/commandsv3-config.cmake.in

@@ -0,0 +1,14 @@
+include(CMakeFindDependencyMacro)
+@WPIUTIL_DEP_REPLACE@
+@NTCORE_DEP_REPLACE@
+@CSCORE_DEP_REPLACE@
+@CAMERASERVER_DEP_REPLACE@
+@HAL_DEP_REPLACE@
+@WPILIBC_DEP_REPLACE@
+@WPIMATH_DEP_REPLACE@
+
+@FILENAME_DEP_REPLACE@
+include(${SELF_DIR}/commandsv3.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/commandsv3_jar.cmake)
+endif()

commandsv3/generate.bzl

@@ -0,0 +1,32 @@
+def __generate_commandsv3_impl(ctx):
+    """
+    Custom rule used to create the commandsv3 pre-generated files. See `./README-Bazel.md` for the reasoning.
+    """
+    output_dir = ctx.actions.declare_directory("_gendir")
+
+    args = ctx.actions.args()
+    args.add("--output_directory", output_dir.path)
+    args.add("--template_root", "commandsv3/src/generate")
+
+    ctx.actions.run(
+        inputs = ctx.attr._templates.files,
+        outputs = [output_dir],
+        executable = ctx.executable._tool,
+        arguments = [args],
+    )
+
+    return [DefaultInfo(files = depset([output_dir]))]
+
+generate_commandsv3 = rule(
+    implementation = __generate_commandsv3_impl,
+    attrs = {
+        "_templates": attr.label(
+            default = Label("//commandsv3:templates"),
+        ),
+        "_tool": attr.label(
+            default = Label("//commandsv3:generate_hids"),
+            cfg = "exec",
+            executable = True,
+        ),
+    },
+)

commandsv3/generate_hids.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+import argparse
+import json
+from pathlib import Path
+
+from jinja2 import Environment, FileSystemLoader
+
+
+def write_controller_file(output_dir: Path, controller_name: str, contents: str):
+    output_dir.mkdir(parents=True, exist_ok=True)
+    output_file = output_dir / controller_name
+    output_file.write_text(contents, encoding="utf-8", newline="\n")
+
+
+def generate_hids(output_directory: Path, template_directory: Path, schema_file: Path):
+    with schema_file.open(encoding="utf-8") as f:
+        controllers = json.load(f)
+
+    # Java files
+    java_subdirectory = "main/java/org/wpilib/commands3/button"
+    env = Environment(
+        loader=FileSystemLoader(template_directory / "main/java"),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    root_path = output_directory / java_subdirectory
+    template = env.get_template("commandhid.java.jinja")
+    for controller in controllers:
+        controllerName = f"Command{controller['ConsoleName']}Controller.java"
+        output = template.render(controller)
+        write_controller_file(root_path, controllerName, output)
+
+
+def main():
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/generated",
+        type=Path,
+    )
+    parser.add_argument(
+        "--template_root",
+        help="Optional. If set, will use this directory as the root for the jinja templates",
+        default=dirname / "src/generate",
+        type=Path,
+    )
+    parser.add_argument(
+        "--schema_file",
+        help="Optional. If set, will use this file for the joystick schema",
+        default="wpilibj/src/generate/hids.json",
+        type=Path,
+    )
+    args = parser.parse_args()
+
+    generate_hids(args.output_directory, args.template_root, args.schema_file)
+
+
+if __name__ == "__main__":
+    main()

commandsv3/src/dev/java/org/wpilib/commands3/DevMain.java

@@ -0,0 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.wpilib.commands3;
+
+import edu.wpi.first.hal.HALUtil;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.CombinedRuntimeLoader;
+
+public class DevMain {
+  public static void main(String[] args) {
+    System.out.println("Commands V3 DevMain");
+
+    System.out.println(CombinedRuntimeLoader.getPlatformPath());
+    System.out.println(NetworkTablesJNI.now());
+    System.out.println(HALUtil.getHALRuntimeType());
+  }
+
+  private DevMain() {}
+}