Merge maven build with 2018 updates

Author: James Hagborg

.travis.yml

@@ -1,19 +1,32 @@
 language: java
 jdk:
 - oraclejdk8
-sudo: false
+sudo: required
+
+services:
+- docker
+
+before_install:
+- docker build -t my-image .
+
+install:
+- echo "skip 'gradle assemble' step"
+
+script:
+- docker run -v "$(pwd):/hyperLib" my-image /hyperLib/.travis_docker_script.sh
+
 notifications:
   slack:
     rooms:
     - babysmith:ULSqFgVgfIwVZhqtqM7d27kv#git
     - babysmith:ULSqFgVgfIwVZhqtqM7d27kv#hyperlib
-addons:
-  apt:
-    packages:
-    - oracle-java8-installer
+ 
 env:
   global:
+  - GRADLE_CACHES="/home/travis/.gradle"
+  - DOCKER_GRADLE_CACHES="/root/.gradle"
   - secure: KbemNv66/YeG1d5rh/DIQ/IzFGO+jkUIxyrC/Rv6qqgIAIzPljTAgvbOwlIS4VWxAc+6u3TgZ1ITHqcISmqQBd3xfqnSjzGyCmiumXmKjP3f/lsXOY0G2dqK8B5UxGyWfHuOldDIZxVs0nlNfW8cvgnVtWikAl+8oM+vZ6OFm6nZf1IqZU7PHHsF8sxi5H2PGo3IJjhkNNpjbi/N+KHpNyeKOPHGmu5jxUg1y+Xk+tpSDij/ko3URy5r1D+GX/BaZBAcRAIk4e1LIka4v6XVhbenO1vTKtmaoWhlSPpdjhi9/6No/rWWb2c+BzaN2hBhyU6g5ZY7goNsb9uzrh3LDWBiXoASPaVMOK17VTJRlARYcXRUK9HgAMj1o8wdgREVFKy8aTIX3amep2O114tnkTbCAefqWqESev5FMY/8TTsoUepO1f7La2EPt4xuckXJBLfb2yH8bbP8u8n8PtHjUJ+jmerGq3MlP8EQj21Qxk299KZ5/NaL2lnYN7krlb+2IMiDJX1Xb3AUVDtM3BFiCefLVPd7EAqbGgicSHRgal1YYaaOVmRq1kqBtTG72Pslh0PHRfjDpWG7NbNntZJG/S05iLJS9cpDeoyEri7mjC48L7Ej/V2Wwd0lEQyWf98FBFvWLja6S5o0VTjE5K1LEWoNpshxia7uZUYiW3JeC9o=
+
 deploy:
 - provider: releases
   api_key:

.travis_docker_script.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -e -x
+
+cd /hyperLib
+./gradlew assemble
+./gradlew check

Dockerfile

@@ -0,0 +1,5 @@
+FROM ubuntu:16.04
+MAINTAINER James Hagborg <[email protected]>
+CMD bash
+
+RUN apt-get update && apt-get -y install git openjdk-8-jdk openjfx

build.gradle

@@ -11,21 +11,40 @@ jgitver {
   mavenLike = true
 }
 
-repositories {
-    mavenCentral()
-    maven {
-        url 'http://first.wpi.edu/FRC/roborio/maven/release'
+allprojects {
+    repositories {
+        mavenCentral()
+        maven {
+            url 'http://first.wpi.edu/FRC/roborio/maven/release'
+        }
     }
 }
 
 dependencies {
     compile group: 'edu.wpi.first.wpilibj', name: 'wpilibj-java', version: '2018.+'
     // We only need the desktop version right now, since this build file is only used for local testing.
-    compile group: 'edu.wpi.first.wpilib.networktables.java', name: 'NetworkTables', version: '3.+', classifier: 'desktop'
+    compile group: 'edu.wpi.first.ntcore', name: 'ntcore-java', version: '4.+'
+    compile group: 'edu.wpi.first.wpiutil', name: 'wpiutil-java', version: '3.+'
+    compile group: 'org.opencv', name: 'opencv-java', version: '3.2.0'
+    compile group: 'edu.wpi.first.cscore', name: 'cscore-java', version: '1.3.+'
+    
+    runtime group: 'edu.wpi.first.wpilibj', name: 'wpilibj-jni', version: '2018.+', classifier: 'all'
+    runtime group: 'edu.wpi.first.ntcore', name: 'ntcore-jni', version: '4.+', classifier: 'all'
+    runtime group: 'org.opencv', name: 'opencv-jni', version: '3.2.0', classifier: 'all'
+    runtime group: 'edu.wpi.first.cscore', name: 'cscore-jni', version: '1.3.+', classifier: 'all'
+    
     testCompile group: 'junit', name: 'junit', version: '4.+'
+    testCompile group: 'org.hamcrest', name: 'hamcrest-library', version: '1.3'
     testCompile group: 'com.google.guava', name: 'guava', version: '19.0'
 }
 
+test {
+    testLogging {
+        events "failed"
+        exceptionFormat "full"
+    }
+}
+
 task sourcesJar(type: Jar, dependsOn: classes) {
     description 'Builds a jar file full of sources.'
     classifier = 'sources'

settings.gradle

@@ -2,6 +2,7 @@
 
 import java.util.Collections;
 import java.util.function.BooleanSupplier;
+import java.util.function.Consumer;
 
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -64,11 +65,16 @@ public CommandBuilder sequential(Command command) {
      * @param command
      *            The command to add in sequence
      * @param timeout
-     *            The timeout, in seconds
+     *            The timeout, in seconds. if negative, no timeout is used.
      * @return This CommandBuilder object
      */
     public CommandBuilder sequential(Command command, double timeout) {
-        m_cmdGroup.addSequential(command, timeout);
+    	if(timeout >= 0.0) {
+    		m_cmdGroup.addSequential(command, timeout);
+    	} else {
+    		m_cmdGroup.addSequential(command);
+    	}
+        
         return this;
     }
 
@@ -99,11 +105,32 @@ public CommandBuilder parallel(Command command) {
      * @param command
      *            The command to add in parallel
      * @param timeout
-     *            The timeout, in seconds
+     *            The timeout, in seconds. if negative, no timeout is used.
      * @return This CommandBuilder object
      */
     public CommandBuilder parallel(Command command, double timeout) {
-        m_cmdGroup.addParallel(command, timeout);
+    	if(timeout >= 0.0) {
+    		m_cmdGroup.addParallel(command, timeout);
+    	} else {
+    		m_cmdGroup.addParallel(command);
+    	}        
+        return this;
+    }
+
+    /**
+     * Add a sequence of commands in parallel. Execution of the next command
+     * will begin immediately, while this one continues to execute in parallel.
+     * The command will be killed if the timeout expires.
+     * 
+     * @param command
+     *            A function taking a CommandBuilder specifying the sequence of
+     *            commands
+     * @return {CommandBuilder}
+     */
+    public CommandBuilder parallel(Consumer<CommandBuilder> command) {
+        CommandBuilder child = new CommandBuilder();
+        command.accept(child);
+        m_cmdGroup.addParallel(child.build());
         return this;
     }
 
@@ -152,8 +179,7 @@ public CommandBuilder waitForCondition(BooleanSupplier condition) {
      *            The timeout in seconds
      * @return This CommandBuilder object
      */
-    public CommandBuilder waitForCondition(BooleanSupplier condition,
-                                           double timeout) {
+    public CommandBuilder waitForCondition(BooleanSupplier condition, double timeout) {
         m_cmdGroup.addSequential(QuickCommand.waitFor(condition), timeout);
         return this;
     }
@@ -182,8 +208,7 @@ public CommandBuilder ifThen(BooleanSupplier condition, Command ifTrue) {
      *            The command to run if the condition is false
      * @return This CommandBuilder object
      */
-    public CommandBuilder ifThenElse(BooleanSupplier condition, Command ifTrue,
-                                     Command ifFalse) {
+    public CommandBuilder ifThenElse(BooleanSupplier condition, Command ifTrue, Command ifFalse) {
         m_cmdGroup.addSequential(new ConditionalCommand(ifTrue, ifFalse) {
             @Override
             protected boolean condition() {
@@ -238,10 +263,8 @@ private static class Counter {
      */
     public CommandBuilder forLoop(int count, Command body) {
         Counter counter = new Counter();
-        m_cmdGroup.addSequential(
-                QuickCommand.oneShot(null, () -> counter.value = 0));
-        m_cmdGroup.addSequential(
-                new WhileCommand(() -> counter.value++ < count, body));
+        m_cmdGroup.addSequential(QuickCommand.oneShot(null, () -> counter.value = 0));
+        m_cmdGroup.addSequential(new WhileCommand(() -> counter.value++ < count, body));
         return this;
     }
 
@@ -271,8 +294,7 @@ public CommandBuilder release(Subsystem subsystem) {
     public CommandBuilder releaseAll() {
         m_cmdGroup.addSequential(new InstantCommand() {
             {
-                for (Object req : Collections
-                        .list(GetRequirements.getRequirements(m_cmdGroup))) {
+                for (Object req : Collections.list(GetRequirements.getRequirements(m_cmdGroup))) {
                     requires((Subsystem) req);
                 }
             }