Add Choreo (#440)

Co-authored-by: Tyler Veness <[email protected]>

WPILibInstaller-Avalonia/Interfaces/IConfigurationProvider.cs

@@ -16,6 +16,8 @@ public interface IConfigurationProvider
 
         AdvantageScopeConfig AdvantageScopeConfig { get; }
 
+        ChoreoConfig ChoreoConfig { get; }
+
         VsCodeConfig VsCodeConfig { get; }
 
         string InstallDirectory { get; }

WPILibInstaller-Avalonia/Models/ChoreoConfig.cs

@@ -0,0 +1,14 @@
+#nullable disable
+
+using Newtonsoft.Json;
+
+namespace WPILibInstaller.Models
+{
+    public class ChoreoConfig
+    {
+        [JsonProperty("zipFile")]
+        public string ZipFile { get; set; }
+        [JsonProperty("folder")]
+        public string Folder { get; set; }
+    }
+}

WPILibInstaller-Avalonia/ViewModels/InstallPageViewModel.cs

@@ -95,6 +95,7 @@ await ExtractArchive(token, new[] {
                 configurationProvider.JdkConfig.Folder + "/",
                 configurationProvider.UpgradeConfig.Tools.Folder + "/",
                 configurationProvider.AdvantageScopeConfig.Folder + "/",
+                configurationProvider.ChoreoConfig.Folder + "/",
                 "installUtils/"});
         }
 

WPILibInstaller-Avalonia/ViewModels/StartPageViewModel.cs

@@ -214,6 +214,17 @@ private async Task<bool> SelectResourceFilesWithFile(string file)
                 }) ?? throw new InvalidOperationException("Not Valid");
             }
 
+            entry = zipArchive.GetEntry("choreoConfig.json");
+
+            using (StreamReader reader = new StreamReader(entry!.Open()))
+            {
+                var configStr = await reader.ReadToEndAsync();
+                ChoreoConfig = JsonConvert.DeserializeObject<ChoreoConfig>(configStr, new JsonSerializerSettings
+                {
+                    MissingMemberHandling = MissingMemberHandling.Error
+                }) ?? throw new InvalidOperationException("Not Valid");
+            }
+
             entry = zipArchive.GetEntry("fullConfig.json");
 
             using (StreamReader reader = new StreamReader(entry!.Open()))
@@ -414,6 +425,8 @@ public override PageViewModelBase MoveNext()
 
         public AdvantageScopeConfig AdvantageScopeConfig { get; private set; } = null!;
 
+        public ChoreoConfig ChoreoConfig { get; private set; } = null!;
+
         public VsCodeConfig VsCodeConfig { get; private set; } = null!;
 
     }

build.gradle

@@ -103,6 +103,7 @@ apply from: 'scripts/jdk.gradle'
 apply from: 'scripts/maven.gradle'
 
 apply from: 'scripts/advantagescope.gradle'
+apply from: 'scripts/choreo.gradle'
 
 // Tools must happen after maven
 apply from: 'scripts/tools.gradle'
@@ -221,6 +222,7 @@ def generateFullResourcesTask = tasks.register('generateFullResources', project.
     jdkZipSetup(it)
 
     advantageScopeZipSetup(it)
+    choreoZipSetup(it)
 
     if (OperatingSystem.current().isWindows()) {
         def task = it
@@ -326,6 +328,7 @@ def generateConfigFiles = tasks.register('generateCommonResources', Zip) {
     jdkConfigFileSetup(zip)
 
     advantageScopeConfigFileSetup(zip)
+    choreoConfigFileSetup(zip)
 
     vscodeConfigZipSetup(zip)
 }

files/Choreo.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+
+SCRIPT_PATH="$(dirname "$(realpath "$0")")"
+SCRIPT_NAME="$(basename "$(realpath "$0")")"
+SCRIPT_BASE="$(basename -s .sh "$SCRIPT_NAME")"
+OS_NAME="$(uname -s)"
+CHOREO_PATH="$(realpath "$SCRIPT_PATH/../choreo")"
+
+exec "$CHOREO_PATH/Choreo"

files/Choreo.vbs

@@ -0,0 +1,44 @@
+'Create File System Object for working with directories
+Set fso = WScript.CreateObject("Scripting.FileSystemObject")
+
+'Get the folder of this script
+toolsFolder = fso.GetParentFolderName(WScript.ScriptFullName)
+
+'Get the Choreo folder
+toolsFolder = fso.GetParentFolderName(WScript.ScriptFullName)
+yearFolder = fso.GetParentFolderName(toolsFolder)
+choreoFolder = fso.BuildPath(yearFolder, "choreo")
+
+'Get the full path to the exe
+fullExeName = fso.BuildPath(choreoFolder, "choreo.exe")
+
+shellScript = fullExeName
+
+'Create Shell Object
+Set objShell = WScript.CreateObject( "WScript.Shell" )
+Set objEnv = objShell.Environment("PROCESS")
+dim runObject
+' Allow us to catch a script run failure
+On Error Resume Next
+Set runObj = objShell.Exec(shellScript)
+If Err.Number <> 0 Then
+	If WScript.Arguments.Count > 0 Then
+		If (WScript.Arguments(0) <> "silent") Then
+			WScript.Echo "Error Launching Tool" + vbCrLf + Err.Description
+		Else
+			WScript.StdOut.Write("Error Launching Tool")
+			WScript.StdOut.Write(Error.Description)
+		End If
+	Else
+		WScript.Echo "Error Launching Tool"  + vbCrLf + Err.Description
+	End If
+	Set runObj = Nothing
+	Set objShell = Nothing
+	Set fso = Nothing
+	WScript.Quit(1)
+End If
+
+Set runObj = Nothing
+Set objShell = Nothing
+Set fso = Nothing
+WScript.Quit(0)

gradleriobase/build.gradle

@@ -6,6 +6,13 @@ plugins {
     id "edu.wpi.first.GradleRIO"
 }
 
+repositories {
+    mavenCentral()
+    maven {
+        url = uri("https://SleipnirGroup.github.io/ChoreoLib/dep")
+    }
+}
+
 deploy {
     targets {
         roborio(getTargetTypeClass('RoboRIO')) {
@@ -34,6 +41,8 @@ def deployCppArtifact = deploy.targets.roborio.artifacts.frcCpp
 
 wpi.java.debugJni = false
 
+def choreoVersion = "$choreoGitTag".substring(1)
+
 dependencies {
     annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
@@ -75,6 +84,9 @@ dependencies {
     if (project(":").ext.buildClassifier == 'Windows') {
         implementation "edu.wpi.first.msvc:runtime:${project(':gradleriobase').wpi.versions.wpilibVersion.get()}:x64@zip"
     }
+
+    // choreo
+    implementation "choreo:ChoreoLib-java:$choreoVersion"
 }
 
 test {
@@ -113,6 +125,20 @@ nativeUtils {
     }
 }
 
+nativeUtils {
+    nativeDependencyContainer {
+        choreo(getNativeDependencyTypeClass('WPISharedMavenDependency')) {
+            groupId = "choreo"
+            artifactId = "ChoreoLib-cpp"
+            headerClassifier = "headers"
+            sourceClassifier = "sources"
+            ext = "zip"
+            version = choreoVersion
+            targetPlatforms.addAll(nativeUtils.wpi.platforms.allPlatforms)
+        }
+    }
+}
+
 nativeUtils {
     nativeDependencyContainer {
         xrpvendordep(getNativeDependencyTypeClass('WPISharedMavenDependency')) {
@@ -155,6 +181,7 @@ model {
             wpi.cpp.deps.googleTest(it)
 
             wpi.cpp.deps.useLibrary(it, 'wpilibnewcommands')
+            wpi.cpp.deps.useLibrary(it, 'choreo')
             wpi.cpp.deps.useLibrary(it, 'xrpvendordep')
             wpi.cpp.deps.useLibrary(it, 'romivendordep')
         }

scripts/choreo.gradle

@@ -0,0 +1,121 @@
+apply from: 'scripts/versions.gradle'
+
+def baseUrl = "https://github.com/SleipnirGroup/Choreo/releases/download/$choreoGitTag/"
+
+def fileNameWindows = "Choreo-$choreoGitTag-Windows-x86_64-standalone.zip"
+
+def downloadUrlWindows = baseUrl + fileNameWindows
+
+def fileNameMac = "Choreo-$choreoGitTag-macOS-x86_64-standalone.zip"
+
+def downloadUrlMac = baseUrl + fileNameMac
+
+def fileNameMacArm = "Choreo-$choreoGitTag-macOS-aarch64-standalone.zip"
+
+def downloadUrlMacArm = baseUrl + fileNameMacArm
+
+def fileNameLinux = "Choreo-$choreoGitTag-Linux-x86_64-standalone.zip"
+
+def downloadUrlLinux = baseUrl + fileNameLinux
+
+
+apply plugin: 'de.undercouch.download'
+
+def downloadTaskWindows = tasks.register('downloadChoreoWindows', Download) {
+  src downloadUrlWindows
+  def fileName = file(src.file).name
+  dest "$buildDir/downloads/$fileName"
+  overwrite true
+}
+
+def downloadTaskMac = tasks.register('downloadChoreoMac', Download) {
+  src downloadUrlMac
+  def fileName = file(src.file).name
+  dest "$buildDir/downloads/$fileName"
+  overwrite true
+}
+
+def downloadTaskMacArm = tasks.register('downloadChoreoMacArm', Download) {
+  src downloadUrlMacArm
+  def fileName = file(src.file).name
+  dest "$buildDir/downloads/$fileName"
+  overwrite true
+}
+
+def downloadTaskLinux = tasks.register('downloadChoreoLinux', Download) {
+  src downloadUrlLinux
+  def fileName = file(src.file).name
+  dest "$buildDir/downloads/$fileName"
+  overwrite true
+}
+
+def choreoConfigFile = file("$buildDir/choreoConfig.json")
+
+def choreoConfigFileTask = tasks.register("choreoConfigFile") {
+  it.outputs.file choreoConfigFile
+
+  doLast {
+
+    def config = [:]
+    config['folder'] = 'choreo'
+    config['zipFile'] = 'choreo.zip'
+
+    def gbuilder = getGsonBuilder()
+
+    gbuilder.setPrettyPrinting()
+    def json = gbuilder.create().toJson(config)
+
+    choreoConfigFile.parentFile.mkdirs()
+
+    choreoConfigFile.text = json
+  }
+}
+
+ext.choreoConfigFileSetup = { AbstractArchiveTask zip->
+  zip.dependsOn choreoConfigFileTask
+  zip.inputs.file choreoConfigFile
+
+  zip.from(choreoConfigFile) {
+    rename {'choreoConfig.json'}
+  }
+}
+
+ext.choreoZipSetup = { AbstractArchiveTask zip->
+  if (project.hasProperty('linuxBuild')) {
+    zip.dependsOn downloadTaskLinux
+
+    zip.inputs.files downloadTaskLinux.get().outputFiles
+
+    zip.from(project.zipTree(downloadTaskLinux.get().outputFiles.first())) {
+      into '/choreo'
+      includeEmptyDirs = false
+    }
+  } else if (project.hasProperty('macBuild')) {
+    zip.dependsOn downloadTaskMac
+
+    zip.inputs.files downloadTaskMac.get().outputFiles
+
+    zip.from(project.zipTree(downloadTaskMac.get().outputFiles.first())) {
+      into '/choreo'
+      includeEmptyDirs = false
+    }
+  } else if (project.hasProperty('macBuildArm')) {
+    zip.dependsOn downloadTaskMacArm
+
+    zip.inputs.files downloadTaskMacArm.get().outputFiles
+
+    zip.from(project.zipTree(downloadTaskMacArm.get().outputFiles.first())) {
+      into '/choreo'
+      includeEmptyDirs = false
+    }
+  } else {
+    zip.dependsOn downloadTaskWindows
+
+    zip.inputs.files downloadTaskWindows.get().outputFiles
+
+    zip.from(project.zipTree(downloadTaskWindows.get().outputFiles.first())) {
+      into '/choreo'
+      includeEmptyDirs = false
+    }
+  }
+}

scripts/maven.gradle

@@ -205,6 +205,13 @@ def downloadNewCommands = tasks.register('downloadNewCommands', Download) {
   overwrite false
 }
 
+def downloadChoreo = tasks.register('downloadChoreo', Download) {
+  src 'https://SleipnirGroup.github.io/ChoreoLib/dep/ChoreoLib2025Beta.json'
+  def fileName = file(src.file).name
+  dest "$buildDir/downloads/$fileName"
+  overwrite false
+}
+
 def downloadRomiVendor = tasks.register('downloadRomiVendor', Download) {
   src 'https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/romiVendordep/RomiVendordep.json'
   def fileName = file(src.file).name
@@ -227,13 +234,18 @@ ext.mavenZipSetup = { AbstractArchiveTask zip->
   }
 
   zip.dependsOn downloadNewCommands
+  zip.dependsOn downloadChoreo
   zip.dependsOn downloadReadTheDocs
   zip.dependsOn downloadPythonAPI
 
   zip.from(downloadNewCommands.get().outputFiles.first()) {
     into '/vendordeps'
   }
 
+  zip.from(downloadChoreo.get().outputFiles.first()) {
+    into '/vendordeps'
+  }
+
   zip.from(downloadRomiVendor.get().outputFiles.first()) {
     into '/vendordeps'
   }

scripts/tools.gradle

@@ -56,6 +56,11 @@ def toolsJsonTask = tasks.register('toolsJson', Task) {
     advantageScopeItem['version'] = advantagescopeGitTag
     config << advantageScopeItem
 
+    def choreoItem = [:]
+    choreoItem['name'] = "Choreo"
+    choreoItem['version'] = choreoGitTag
+    config << choreoItem
+
     def gbuilder = getGsonBuilder()
     gbuilder.setPrettyPrinting()
     def json = gbuilder.create().toJson(config)

scripts/versions.gradle

@@ -23,6 +23,8 @@ ext.jdkVersion = '17.0.12+7'
 
 ext.advantagescopeGitTag = 'v4.0.0-beta-1'
 
+ext.choreoGitTag = 'v2025.0.0-beta-4'
+
 ext.frcYear = '2025'
 
 ext.gradleWrapperVersion = '8.10.2'