[cmd] Commands v3 framework

.github/actions/pregen/action.yml

@@ -53,6 +53,11 @@ runs:
         ./wpimath/generate_quickbuf.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       shell: bash
 
+    - name: Regenerate Commands v3
+      run: |
+        ./commandsv3/generate_files.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      shell: bash
+
     - name: Regenerate wpiunits
       run: ./wpiunits/generate_units.py
       shell: bash

BUILD.bazel

@@ -51,6 +51,7 @@ 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",
@@ -100,6 +101,7 @@ publish_all(
         "//wpigui:wpigui-cpp_publish.publish",
         "//wpilibNewCommands:wpilibNewCommands-cpp_publish.publish",
         "//wpilibNewCommands:wpilibNewCommands-java_publish.publish",
+        "//commandsv3:commandsv3-java_publish.publish",
         "//wpilibc:wpilibc-cpp_publish.publish",
         "//wpilibcExamples:commands_publish.publish",
         "//wpilibcExamples:examples_publish.publish",

CMakeLists.txt

@@ -346,12 +346,14 @@ endif()
 
 if(WITH_WPILIB)
     set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
+    set(COMMANDSV3_DEP_REPLACE "find_dependency(commandsv3)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
     set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
     set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
+    add_subdirectory(commandsv3) # must be after wpilibj
     add_subdirectory(wpilibNewCommands)
     add_subdirectory(romiVendordep)
     add_subdirectory(xrpVendordep)

README-CMake.md

@@ -5,6 +5,7 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 ## Libraries that get built
 * apriltag
 * cameraserver
+* commandsv3
 * cscore
 * fieldImages
 * hal (simulation HAL only)

commandsv3/.styleguide

@@ -0,0 +1,12 @@
+modifiableFileExclude {
+  \.patch$
+}
+
+generatedFileExclude {
+  src/generated/main/java/org/wpilib/commands3/button/
+  src/generated/main/java/org/wpilib/commands3/proto/
+}
+
+repoRootNameOverride {
+  commandsv3
+}

commandsv3/BUILD.bazel

@@ -0,0 +1,92 @@
+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_files",
+    srcs = ["generate_files.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"],
+    exported_plugins = ["//javacPlugin:plugin"],
+    maven_artifact_name = "commands3-java",
+    maven_group_id = "org.wpilib.commands3",
+    plugins = ["//javacPlugin:plugin"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//cscore:cscore-java",
+        "//hal:hal-java",
+        "//ntcore:ntcore-java",
+        "//wpiannotations",
+        "//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",
+        "//wpiannotations",
+        "//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 +1,53 @@
+project(commandsv3)
+
+include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
+
+if(WITH_JAVA)
+    include(UseJava)
+
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
+    file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
+
+    add_jar(
+        commandsv3_jar
+        ${JAVA_SOURCES}
+        INCLUDE_JARS
+            datalog_jar
+            hal_jar
+            ntcore_jar
+            cscore_jar
+            cameraserver_jar
+            wpiannotations_jar
+            wpimath_jar
+            wpiunits_jar
+            wpiutil_jar
+            wpilibj_jar
+            ${QUICKBUF_JAR}
+        OUTPUT_NAME commandsv3
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+    )
+
+    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)
+    include(UseJava)
+    include(CreateSourceJar)
+    add_source_jar(
+        commandsv3_src_jar
+        BASE_DIRECTORIES
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
+        OUTPUT_NAME commandsv3-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+    )
+    set_property(TARGET commandsv3_src_jar PROPERTY FOLDER "java")
+    install_jar(commandsv3_src_jar DESTINATION ${java_lib_dest})
+endif()

commandsv3/CommandsV3.json

@@ -0,0 +1,18 @@
+{
+  "fileName": "CommandsV3.json",
+  "name": "Commands v3",
+  "version": "1.0.0",
+  "uuid": "4decdc05-a056-46cf-9561-39449bbb0130",
+  "frcYear": "2027_alpha1",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "org.wpilib.commands3",
+      "artifactId": "commands3-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": []
+}

commandsv3/build.gradle

@@ -0,0 +1,49 @@
+ext {
+    useJava = true
+    useCpp = false
+    baseId = 'commands3'
+    groupId = 'org.wpilib'
+
+    nativeName = 'commands3'
+    devMain = 'org.wpilib.commands3.DevMain'
+}
+
+apply from: "${rootDir}/shared/java/javacommon.gradle"
+
+evaluationDependsOn(':wpiutil')
+evaluationDependsOn(':ntcore')
+evaluationDependsOn(':hal')
+evaluationDependsOn(':wpimath')
+evaluationDependsOn(':wpilibj')
+
+dependencies {
+    annotationProcessor project(':javacPlugin')
+    implementation project(':wpiannotations')
+    implementation project(':wpiutil')
+    implementation project(':wpinet')
+    implementation project(':ntcore')
+    implementation project(':hal')
+    implementation project(':wpimath')
+    implementation project(':wpilibj')
+    api("us.hebi.quickbuf:quickbuf-runtime:1.4")
+    testAnnotationProcessor project(':javacPlugin')
+    testImplementation 'org.mockito:mockito-core:4.1.0'
+}
+
+sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
+sourceSets.main.resources.srcDir "${projectDir}/src/main/proto"
+
+test {
+    testLogging {
+        outputs.upToDateWhen {false}
+        showStandardStreams = true
+    }
+
+    // For reflective access to the continuation classes
+    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 +1,45 @@
+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")
+    args.add("--protoc", ctx.executable._protoc)
+    args.add("--quickbuf_plugin", ctx.executable._quickbuf)
+
+    ctx.actions.run(
+        inputs = ctx.attr._templates.files,
+        outputs = [output_dir],
+        executable = ctx.executable._tool,
+        arguments = [args],
+        tools = [ctx.executable._protoc, ctx.executable._quickbuf],
+    )
+
+    return [DefaultInfo(files = depset([output_dir]))]
+
+generate_commandsv3 = rule(
+    implementation = __generate_commandsv3_impl,
+    attrs = {
+        "_protoc": attr.label(
+            default = Label("@com_google_protobuf//:protoc"),
+            cfg = "exec",
+            executable = True,
+        ),
+        "_quickbuf": attr.label(
+            default = Label("//:quickbuf_protoc"),
+            cfg = "exec",
+            executable = True,
+        ),
+        "_templates": attr.label(
+            default = Label("//commandsv3:templates"),
+        ),
+        "_tool": attr.label(
+            default = Label("//commandsv3:generate_files"),
+            cfg = "exec",
+            executable = True,
+        ),
+    },
+)