Big GUI update! GUI is now distributed using jlink and can be importe…

…d via platform-specific classifiers
amarcolini · Apr 23, 2022 · 7f1fc7a · 7f1fc7a
1 parent 1a43169
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diff --git a/README.md b/README.md
@@ -17,13 +17,35 @@ A comprehensive kotlin library designed for FTC. Based on [Road Runner](https://
 
 ## Installation
 
+For the `command` and `navigation` modules, installation is as follows:
+
 ### Gradle
 
-```gradle
+```groovy
+repositories {
+  maven { url 'https://jitpack.io' }
+}
+
+dependencies {
+  implementation "com.github.amarcolini.joos:$module:0.4.3-alpha"
+}
+```
+
+Note that since the `command` module implicitly imports the `navigation` module,
+only one implementation statement is needed.
+
+To use the GUI, you can either download the image specific to your platform from the releases page,
+or import it like so:
+
+###Gradle
+
+````groovy
 repositories {
   maven { url 'https://jitpack.io' }
 }
+
 dependencies {
-  implementation "com.github.amarcolini.joos:$module:0.4.2-alpha"
+    // Change 'win' to 'linux' or 'mac' depending on your operating system
+  implementation "com.github.amarcolini.joos:gui:0.4.3-alpha:win"
 }
-```
+````
diff --git a/build.gradle b/build.gradle
@@ -1,11 +1,11 @@
 buildscript {
     ext {
         kotlin_version = "1.6.10"
-        lib_version = "0.4.2-alpha"
+        lib_version = "0.4.3-alpha"
     }
 
     repositories {
-        jcenter()
+        gradlePluginPortal()
         google()
     }
 
@@ -17,7 +17,6 @@ buildscript {
 
 allprojects {
     repositories {
-        jcenter()
         mavenCentral()
     }
 

diff --git a/command/src/main/kotlin/com/amarcolini/joos/hardware/MotorGroup.kt b/command/src/main/kotlin/com/amarcolini/joos/hardware/MotorGroup.kt
@@ -4,6 +4,7 @@ import com.amarcolini.joos.command.Command
 import com.amarcolini.joos.command.Component
 import com.amarcolini.joos.control.FeedforwardCoefficients
 import com.amarcolini.joos.control.PIDCoefficients
+import com.amarcolini.joos.geometry.Angle
 import com.amarcolini.joos.hardware.Motor.RunMode
 import com.qualcomm.robotcore.hardware.HardwareMap
 
@@ -55,30 +56,35 @@ class MotorGroup(vararg val motors: Motor) : Component {
      * The maximum revolutions per minute that all motors in the group can achieve.
      */
     @JvmField
-    val maxRPM = motors.minOf { it.maxRPM }
+    val maxRPM: Double = motors.minOf { it.maxRPM }
 
     /**
      * The maximum distance velocity that all motors in the group can achieve.
      */
     @JvmField
-    val maxDistanceVelocity = motors.minOf { it.maxDistanceVelocity }
+    val maxDistanceVelocity: Double = motors.minOf { it.maxDistanceVelocity }
 
     /**
      * The maximum ticks per second velocity that all motors in the group can achieve.
      */
     @JvmField
     val maxTPS: Double = motors.minOf { it.maxTPS }
 
+    /**
+     * A list of the individual rotations of each motor.
+     */
+    val rotation: List<Angle> get() = motors.map { it.rotation }
+
     /**
      * The maximum distance that all motors in the group have travelled.
      * @see distanceVelocity
      */
-    val distance get() = motors.minOf { it.distance }
+    val distance: Double get() = motors.minOf { it.distance }
 
     /**
      * The minimum distance velocity out of all motors in the group.
      */
-    val distanceVelocity get() = motors.minOf { it.distanceVelocity }
+    val distanceVelocity: Double get() = motors.minOf { it.distanceVelocity }
 
     /**
      * Whether the motor group is reversed.
@@ -119,14 +125,14 @@ class MotorGroup(vararg val motors: Motor) : Component {
         velocity: Double,
         acceleration: Double = 0.0,
         unit: Motor.RotationUnit = Motor.RotationUnit.RPM
-    ) = motors.forEach { it.setSpeed(velocity, acceleration, unit) }
+    ): Unit = motors.forEach { it.setSpeed(velocity, acceleration, unit) }
 
     /**
      * Sets the percentage of power/velocity of the motor group in the range `[-1.0, 1.0]`.
      *
      * *Note*: Since power is expressed as a percentage, motors may move at different speeds.
      */
-    fun setPower(power: Double) = motors.forEach { it.power = power }
+    fun setPower(power: Double): Unit = motors.forEach { it.power = power }
 
     var zeroPowerBehavior: Motor.ZeroPowerBehavior = Motor.ZeroPowerBehavior.FLOAT
         set(value) {
@@ -143,7 +149,7 @@ class MotorGroup(vararg val motors: Motor) : Component {
     /**
      * PID coefficients used in [RunMode.RUN_USING_ENCODER].
      */
-    var veloCoefficients = PIDCoefficients(1.0)
+    var veloCoefficients: PIDCoefficients = PIDCoefficients(1.0)
         set(value) {
             motors.forEach { it.veloCoefficients = value }
             field = value
@@ -152,7 +158,7 @@ class MotorGroup(vararg val motors: Motor) : Component {
     /**
      * PID coefficients used in [RunMode.RUN_TO_POSITION].
      */
-    var positionCoefficients = PIDCoefficients(1.0)
+    var positionCoefficients: PIDCoefficients = PIDCoefficients(1.0)
         set(value) {
             motors.forEach { it.positionCoefficients = value }
             field = value
@@ -161,7 +167,7 @@ class MotorGroup(vararg val motors: Motor) : Component {
     /**
      * Feedforward coefficients used in both [RunMode.RUN_USING_ENCODER] and [RunMode.RUN_WITHOUT_ENCODER].
      */
-    var feedforwardCoefficients = FeedforwardCoefficients(1 / maxDistanceVelocity)
+    var feedforwardCoefficients: FeedforwardCoefficients = FeedforwardCoefficients(1 / maxDistanceVelocity)
         set(value) {
             motors.forEach { it.feedforwardCoefficients = value }
             field = value
@@ -188,7 +194,7 @@ class MotorGroup(vararg val motors: Motor) : Component {
     /**
      * Returns a command that runs all the motors in the group until all of them have reached the desired position.
      */
-    fun goToPosition(position: Int) = Command.of {
+    fun goToPosition(position: Int): Command = Command.of {
         runMode = RunMode.RUN_TO_POSITION
         targetPosition = position
     }
@@ -203,7 +209,7 @@ class MotorGroup(vararg val motors: Motor) : Component {
     /**
      * Returns a command that runs all the motors in the group until all of them have reached the desired distance.
      */
-    fun goToDistance(distance: Double) = Command.of {
+    fun goToDistance(distance: Double): Command = Command.of {
         runMode = RunMode.RUN_TO_POSITION
         motors.forEach {
             it.targetPosition = (distance / it.distancePerRev * it.TPR).toInt()
@@ -222,12 +228,12 @@ class MotorGroup(vararg val motors: Motor) : Component {
     /**
      * Resets the encoders of all the motors in the group.
      */
-    fun resetEncoder() = motors.forEach { it.resetEncoder() }
+    fun resetEncoder(): Unit = motors.forEach { it.resetEncoder() }
 
     /**
      * Returns whether any of the motors in the group are currently moving towards the desired setpoint using [RunMode.RUN_TO_POSITION].
      */
-    fun isBusy() = motors.any { it.isBusy() }
+    fun isBusy(): Boolean = motors.any { it.isBusy() }
 
     /**
      * Updates both [RunMode.RUN_USING_ENCODER] and [RunMode.RUN_TO_POSITION]. Running this method is

diff --git a/gui/build.gradle b/gui/build.gradle
@@ -1,9 +1,10 @@
 plugins {
     id 'application'
-    id 'org.openjfx.javafxplugin' version '0.0.8'
+    id 'org.openjfx.javafxplugin' version '0.0.10'
     id 'kotlin'
     id 'maven-publish'
-    id "com.github.johnrengelman.shadow" version "7.1.0"
+//    id "com.github.johnrengelman.shadow" version "7.1.0"
+    id 'org.beryx.jlink' version '2.25.0'
 }
 
 repositories {
@@ -12,47 +13,88 @@ repositories {
 
 application {
     mainClass = "${rootProject.group}.gui.ApplicationKt"
+    mainModule = 'joos.gui'
+    applicationDefaultJvmArgs = ['--add-opens=javafx.graphics/javafx.scene=tornadofx']
 }
 
 javafx {
-    version = "11.0.2"
-    modules = ['javafx.controls', 'javafx.graphics', 'javafx.swing']
+    version = "15.0.1"
+    modules = ['javafx.controls']
 }
 
-shadowJar {
-    destinationDirectory.set(buildDir)
-    archiveBaseName.set("$rootProject.name-gui")
-    archiveClassifier.set("all")
-    archiveVersion.set(lib_version)
+//shadowJar {
+//    destinationDirectory.set(buildDir)
+//    archiveBaseName.set("$rootProject.name-gui")
+//    archiveClassifier.set("all")
+//    archiveVersion.set(lib_version)
+//}
+
+java {
+    toolchain {
+        languageVersion = JavaLanguageVersion.of(11)
+    }
+    withSourcesJar()
+}
+
+configurations {
+    imageDependency {
+        extendsFrom implementation
+        canBeResolved(true)
+    }
 }
 
 dependencies {
     api project(':navigation')
     implementation 'no.tornado:tornadofx:1.7.20'
     implementation "org.jetbrains.kotlin:kotlin-reflect:$kotlin_version"
 
-    runtimeOnly "org.openjfx:javafx-graphics:$javafx.version:win"
-    runtimeOnly "org.openjfx:javafx-graphics:$javafx.version:linux"
-    runtimeOnly "org.openjfx:javafx-graphics:$javafx.version:mac"
-    runtimeOnly "org.openjfx:javafx-controls:$javafx.version"
+    implementation 'io.github.classgraph:classgraph:4.8.146'
+
+    imageDependency "org.openjfx:javafx-controls:$javafx.version:win"
+    imageDependency "org.openjfx:javafx-controls:$javafx.version:mac"
+    imageDependency "org.openjfx:javafx-controls:$javafx.version:linux"
 }
 
-java {
-    sourceCompatibility = JavaVersion.VERSION_1_8
-    targetCompatibility = JavaVersion.VERSION_1_8
+compileKotlin {
+    kotlinOptions {
+        jvmTarget = "11"
+        apiVersion = "1.5"
+    }
+    destinationDirectory.set(compileJava.destinationDirectory.get())
 }
 
-task sourcesJar(type: Jar) {
+task windowsJar(type: Jar) {
     from sourceSets.main.allSource
-    classifier('sources')
+    dependencies {
+        implementation "org.openjfx:javafx-controls:$javafx.version:win"
+    }
+    classifier('win')
+}
+
+task linuxJar(type: Jar) {
+    from sourceSets.main.allSource
+    dependencies {
+        implementation "org.openjfx:javafx-controls:$javafx.version:linux"
+    }
+    classifier('linux')
+}
+
+task macJar(type: Jar) {
+    from sourceSets.main.allSource
+    dependencies {
+        implementation "org.openjfx:javafx-controls:$javafx.version:mac"
+    }
+    classifier('mac')
 }
 
 publishing {
     publications {
         release(MavenPublication) {
             from components.java
-            artifact sourcesJar
             artifactId = "gui"
+            artifact windowsJar
+            artifact linuxJar
+            artifact macJar
             pom {
                 name = "Joos"
                 description = "A comprehensive kotlin library designed for FTC."
@@ -73,4 +115,41 @@ publishing {
             url = '../testRepo'
         }
     }
+}
+
+jlink {
+    options = ['--strip-debug', '--compress', '2', '--no-header-files', '--no-man-pages']
+    configuration = 'imageDependency'
+    addExtraDependencies("javafx")
+    forceMerge('javafx')
+
+    mergedModule {
+        excludeProvides servicePattern: 'com.fasterxml.jackson.*'
+        uses 'kotlin.reflect.jvm.internal.impl.builtins.BuiltInsLoader'
+        uses 'kotlin.reflect.jvm.internal.impl.resolve.ExternalOverridabilityCondition'
+        uses 'kotlin.reflect.jvm.internal.impl.util.ModuleVisibilityHelper'
+    }
+
+    launcher {
+        jvmArgs = ['--add-opens=javafx.graphics/javafx.scene=tornadofx']
+        noConsole = true
+    }
+
+    targetPlatform("linux") {
+        jdkHome = jdkDownload("https://api.adoptium.net/v3/binary/latest/11/ga/linux/x64/jdk/hotspot/normal/eclipse") {
+            archiveExtension = 'tar.gz'
+        }
+    }
+
+    targetPlatform("win") {
+        jdkHome = jdkDownload("https://api.adoptium.net/v3/binary/latest/11/ga/windows/x64/jdk/hotspot/normal/eclipse") {
+            archiveExtension = 'zip'
+        }
+    }
+
+    targetPlatform("mac") {
+        jdkHome = jdkDownload("https://api.adoptium.net/v3/binary/latest/11/ga/mac/x64/jdk/hotspot/normal/eclipse") {
+            archiveExtension = 'tar.gz'
+        }
+    }
 }
diff --git a/gui/src/main/java/module-info.java b/gui/src/main/java/module-info.java
@@ -0,0 +1,15 @@
+module joos.gui {
+    requires javafx.controls;
+    requires javafx.graphics;
+    requires tornadofx;
+    requires transitive kotlin.stdlib;
+    requires kotlin.reflect;
+    uses kotlin.reflect.jvm.internal.impl.builtins.BuiltInsLoader;
+    uses kotlin.reflect.jvm.internal.impl.resolve.ExternalOverridabilityCondition;
+    uses kotlin.reflect.jvm.internal.impl.util.ModuleVisibilityHelper;
+    requires io.github.classgraph;
+    exports com.amarcolini.joos.gui;
+    exports com.amarcolini.joos.gui.rendering;
+    exports com.amarcolini.joos.gui.style;
+    exports com.amarcolini.joos.gui.trajectory;
+}