Feature bc

.github/workflows/pullgompeilib.yml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   sync:
-    uses: Team-190/CI-Workflows/.github/workflows/syncgompeilib.yml@main
+    uses: Team-190/CI-Workflows/.github/workflows/syncgompeilib.yaml@main
     with:
       direction: pull
     secrets:

.github/workflows/pushgompeilib.yml

@@ -6,7 +6,7 @@ on:
 
 jobs:
   sync:
-    uses: Team-190/CI-Workflows/.github/workflows/syncgompeilib.yml@main
+    uses: Team-190/CI-Workflows/.github/workflows/syncgompeilib.yaml@main
     with:
       direction: push
     secrets:

advantagescope_assets/Robot_Turnover/config.json

@@ -0,0 +1,142 @@
+{
+  "name": "Turnover",
+  "sourceUrl": "https://frc190.onshape.com/documents/ba8a365713d40fc24cf0b54f/w/90379dd84e9a15f2f3a15787/e/f7562994bcc6d5175e8e4e30",
+  "disableSimplification": true,
+  "rotations": [
+    {
+      "axis": "x",
+      "degrees": 90
+    },
+    {
+      "axis": "z",
+      "degrees": 90
+    }
+  ],
+  "position": [
+    0,
+    0,
+    0
+  ],
+  "cameras": [],
+  "components": [
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        0.017463,
+        0.163513,
+        -0.371475
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        -0.043168,
+        0.1635125,
+        -0.474975
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        0.317482,
+        -0.090043,
+        -0.477114
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        0,
+        0,
+        0
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        -0.139700,
+        0,
+        -0.254000
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        0.003638,
+        0,
+        -0.335929
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        -0.292100,
+        0,
+        -0.171450
+      ]
+    }
+  ]
+}

build.gradle

@@ -4,7 +4,8 @@ plugins {
     id "com.peterabeles.gversion" version "1.10"
     id "io.freefair.lombok" version "8.4"
     id "com.diffplug.spotless" version "6.25.0"
-    id "io.freefair.aspectj.post-compile-weaving" version "8.4"
+    id "io.freefair.aspectj.post-compile-weaving" version "8.6"
+    id "jacoco"
 }
 
 ext {
@@ -111,65 +112,11 @@ deploy {
     }
 }
 
-def getGompeiVersionFromSource() {
-    def configFile = file("src/main/java/frc/robot/RobotConfig.java")
-    if (!configFile.exists()) {
-        logger.warn("WARNING: No RobotConfig.java class found, falling back to latest GompeiLib package")
-        return "2026+"
-    } else {
-        logger.info("INFO: RobotConfig.java class found")
-    }
-
-    def content = configFile.text
-
-    def robotMatcher = content =~ /ROBOT\s*=\s*RobotType\.(\w+);/
-    if (robotMatcher.find()) {
-        def activeRobot = robotMatcher.group(1)
-
-        def versionMatcher = content =~ /${activeRobot}\("([^"]+)"\)/
-        if (versionMatcher.find()) {
-            return versionMatcher.group(1)
-        }
-    }
-    return "0.0.0-SNAPSHOT"
-}
-
-def GLibRepoPath = ""
-
 repositories {
-
-    def gprUser = project.findProperty("gpr.user")
-    def gprKey = project.findProperty("gpr.key")
-
-    if (!useLocalGompeiLib && gprUser != null && gprKey != null) {
-        // Use GitHub Packages if credentials exist
-        exclusiveContent {
-            forRepository {
-                maven {
-                    name = "GompeiLibGitHubPackages"
-                    url = uri("https://maven.pkg.github.com/Team-190/GompeiLib")
-                    credentials {
-                        username = gprUser
-                        password = gprKey
-                    }
-                }
-            }
-            filter {
-                includeGroup "edu.wpi.team190"
-            }
-        }
-        def gompeiLibVersion = getGompeiVersionFromSource()
-        GLibRepoPath = "edu.wpi.team190:gompeilib:${gompeiLibVersion}"
-    } else {
-        logger.warn("WARNING: Using local GompeiLib build.")
-
-        mavenLocal()
-        GLibRepoPath = "edu.wpi.team190:gompeilib:0.0.0-SNAPSHOT"
-    }
+    mavenCentral()
 }
 
 // Grab the roboRIO comment via SSH
-
 import com.jcraft.jsch.JSch
 import edu.wpi.first.gradlerio.GradleRIOPlugin
 import groovy.json.JsonSlurper
@@ -328,12 +275,12 @@ dependencies {
     implementation 'org.jgrapht:jgrapht-core:1.5.1'
     implementation 'org.jgrapht:jgrapht-io:1.5.1'
 
-
-    implementation GLibRepoPath
     // This is required for the @Tracer annotations to work at runtime
     implementation 'org.aspectj:aspectjrt:1.9.21'
     implementation 'org.aspectj:aspectjtools:1.9.21'
-    aspect GLibRepoPath
+
+    implementation project(':gompeilib')
+    aspect project(':gompeilib')
 
     roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
     roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
@@ -353,9 +300,42 @@ dependencies {
     annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 
+jacoco {
+    toolVersion = "0.8.10"
+}
+
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    finalizedBy jacocoTestReport
+}
+
+jacocoTestReport {
+    dependsOn test
+    reports {
+        xml.required = true
+        html.required = true
+    }
+    doLast {
+        def reportFile = file("${buildDir}/reports/jacoco/test/jacocoTestReport.xml")
+        if (reportFile.exists()) {
+            def parser = new groovy.xml.XmlParser(false, false)
+            parser.setFeature("http://apache.org/xml/features/disallow-doctype-decl", false)
+            parser.setFeature("http://xml.org/sax/features/validation", false)
+            parser.setFeature("http://apache.org/xml/features/nonvalidating/load-external-dtd", false)
+            def xml = parser.parse(reportFile)
+            println "\n=== JaCoCo Coverage Summary for root project ==="
+            xml.counter.each { counter ->
+                def type = counter.attribute('type')
+                def missed = counter.attribute('missed').toInteger()
+                def covered = counter.attribute('covered').toInteger()
+                def total = missed + covered
+                def percentage = total > 0 ? (covered * 100.0 / total) : 0.0
+                printf("%-12s: %.2f%% (%d/%d)%n", type, percentage, covered, total)
+            }
+            println "================================================\n"
+        }
+    }
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -476,39 +456,3 @@ spotless {
         endWithNewline()
     }
 }
-
-tasks.register('appendBuildVersion') {
-    doLast {
-        def src = useLocalGompeiLib
-                ? "GompeiLib:local"
-                : ((project.hasProperty("gpr.user") && project.hasProperty("gpr.key"))
-                ? "GompeiLib:github-packages"
-                : "GompeiLib:jitpack")
-
-        def dep = configurations.detachedConfiguration(
-                dependencies.create(GLibRepoPath)
-                ).resolvedConfiguration.firstLevelModuleDependencies.find {
-                    it.moduleName == "gompeilib"
-                }
-
-        def ver = dep?.moduleVersion ?: "unknown"
-        "${src}:${ver}"
-        def outFile = file("src/main/java/frc/robot/BuildConstants.java")
-        if (!outFile.exists()) throw new GradleException("BuildConstants.java not found. Run gversion first.")
-
-        def contents = outFile.text
-
-        // Replace existing VERSION field if present, otherwise append before last brace
-        if (contents =~ /public static final String VERSION\s*=\s*".*";/) {
-            contents = contents.replaceFirst(/public static final String VERSION\s*=\s*".*";/,
-                    "public static final String VERSION = \"${src}:${ver}\";")
-        } else {
-            contents = contents.replaceFirst(/\}\s*$/, "    public static final String VERSION = \"${src}:${ver}\";\n}")
-        }
-
-        outFile.text = contents
-        println "VERSION field set to ${src}:${ver}"
-    }
-}
-
-createVersionFile.finalizedBy appendBuildVersion