Include a Verification Routine to aid building with CI. Update to version 1.1.0. Gradle files auto-update toast/gradlerio

Author: JaciBrunning

.travis.yml

@@ -3,7 +3,10 @@ language: java
 install:
   - "./gradlew wpi"
   - "./gradlew assemble"
-
+  
+script:
+  - "./gradlew verify"
+  
 jdk:
   - oraclejdk8
 

build.gradle

@@ -177,5 +177,39 @@ class BuildGradle implements Plugin<Project> {
       }
       ant.zip(destfile: "releases/Toast-Deployment-Utility.zip", basedir: "build/deployment")
     }
+
+    project.getConfigurations().maybeCreate('verify')
+    project.task('verify') << {
+      File toast_dir = new File('run/verification')
+      if (toast_dir.exists()) {
+        project.ant.delete(dir: toast_dir.getAbsolutePath())
+      }
+
+      toast_dir.mkdirs()
+      File modules_dir = new File(toast_dir, "toast/modules")
+      modules_dir.mkdirs()
+
+      println "Beginning Assets Copying..."
+      File toast = new File(toast_dir, 'Toast.jar')
+      String archive = project.jar.archivePath
+      project.ant.copy(tofile: toast.getAbsolutePath(), file: archive)
+
+      project.getConfigurations().verify.resolve().each {
+        File file = it
+        File toFile = new File(modules_dir, file.getName())
+        project.ant.copy(tofile: toFile.getAbsolutePath(), file: file.getAbsolutePath())
+      }
+
+      println "Assets Copied..."
+      println "Beginning Verification..."
+
+      project.javaexec {
+        workingDir = toast_dir.getAbsolutePath()
+        args = ["Toast.jar", "-verify"]
+        main = '-jar'
+      }
+
+      println "Verification Complete..."
+    }
   }
 }

build.settings

@@ -1 +1 @@
-toast.version=1.0.0
+toast.version=1.1.0

release/.travis.yml

@@ -0,0 +1,12 @@
+language: java
+
+install:
+  - "./gradlew assemble"
+
+script:
+  - "./gradlew verify"
+jdk:
+  - oraclejdk8
+
+notifications:
+  email: false

release/build.gradle

@@ -12,7 +12,7 @@ buildscript {
   }
   }
   dependencies {
-    classpath group: 'jaci.openrio.gradle', name: 'GradleRIO', version: '1.1.6', classifier: 'Toast'			//Change this line if you wish to Update GradleRIO
+    classpath group: 'jaci.openrio.gradle', name: 'GradleRIO', version: '+', classifier: 'Toast'			//Change this line if you wish to Update GradleRIO
   }
 }
 
@@ -36,5 +36,5 @@ gradlerio.team = "5333"                                   //Your FRC team number
 gradlerio.deployFile = "toast/modules/${archivesBaseName}"
 
 dependencies {
-  compile group: 'jaci.openrio.toast', name: 'Toast', version: '0.5.0'    //Change this line to update Toast
+  compile group: 'jaci.openrio.toast', name: 'Toast', version: '+'    //Change this line to update Toast
 }

src/main/java/jaci/openrio/toast/core/StateTracker.java

@@ -3,6 +3,7 @@
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
 import jaci.openrio.toast.core.loader.groovy.GroovyLoader;
+import jaci.openrio.toast.core.loader.verification.VerificationWorker;
 import jaci.openrio.toast.lib.FRCHooks;
 import jaci.openrio.toast.lib.state.RobotState;
 import jaci.openrio.toast.lib.state.StateListener;
@@ -44,6 +45,8 @@ public static void init(Toast impl) {
         UsageReporting.report(FRCNetworkCommunicationsLibrary.tResourceType.kResourceType_Framework, FRCNetworkCommunicationsLibrary.tInstances.kFramework_Iterative);
         StateTracker.impl = impl;
         boolean isAlive;
+        if (ToastBootstrap.isVerification)
+            VerificationWorker.begin();
         while (true) {
             if (impl.isDisabled()) {
                 if (!_state_disabled_init) {

src/main/java/jaci/openrio/toast/core/Toast.java

@@ -112,7 +112,16 @@ public void startCompetition() {
 
     public void shutdownSafely() {
         log().info("Robot Shutting Down...");
-        System.exit(1);
+        System.exit(0);
     }
 
+    public void shutdownCrash() {
+        log().info("Robot Error Detected... Shutting Down...");
+        System.exit(-1);
+    }
+
+    /** Verification Overrides **/
+
+
+
 }

src/main/java/jaci/openrio/toast/core/ToastBootstrap.java

@@ -31,6 +31,12 @@ public class ToastBootstrap {
      */
     public static boolean isSimulation;
 
+    /**
+     * Is this a verification? Verifications are headless routines to 'test' the
+     * build process.
+     */
+    public static boolean isVerification;
+
     /**
      * Get the root folder for Toast. This is where logs, modules,
      * and just about everything for toast is saved.
@@ -65,6 +71,9 @@ public static void main(String[] args) {
                     if (!nextArg.equals("."))
                         GroovyLoader.customClasses.add(nextArg);
                 } catch (Exception e) {}
+            } else if (arg.equalsIgnoreCase("-verify") || arg.equalsIgnoreCase("-vf")) {
+                isSimulation = true;
+                isVerification = true;
             }
         }
 
@@ -87,7 +96,7 @@ public static void main(String[] args) {
         startTimeNS = System.nanoTime();
         startTimeMS = System.currentTimeMillis();
 
-        if (isSimulation) {
+        if (isSimulation && !isVerification) {
             SimulationGUI.main(args);
         }
 

src/main/java/jaci/openrio/toast/core/loader/verification/VerificationWorker.java

@@ -0,0 +1,81 @@
+package jaci.openrio.toast.core.loader.verification;
+
+import groovy.lang.GroovyObject;
+import jaci.openrio.toast.core.Toast;
+import jaci.openrio.toast.core.loader.groovy.GroovyLoader;
+import jaci.openrio.toast.core.loader.module.ModuleContainer;
+import jaci.openrio.toast.core.loader.module.ModuleManager;
+import jaci.openrio.toast.core.loader.simulation.SimulationData;
+import jaci.openrio.toast.lib.log.Logger;
+import jaci.openrio.toast.lib.module.GroovyScript;
+import jaci.openrio.toast.lib.state.RobotState;
+
+import java.util.Map;
+
+/**
+ * The Verification Worker. This class is called when the Toast Jar file is launched with the arguments -vf or -verify.
+ * This thread runs through the Disabled -> Autonomous -> Teleoperated -> End lifecycle of the robot, and if any errors
+ * or uncaught exceptions are encountered along the way, the program will exit with error code -1. If this is launched from
+ * gradle using 'gradlew verify', the build will fail. This class is mostly used in Travis CI builds and exists to give
+ * a proper 'yes, this code works' requirement to a successful build instead of the typical 'there's no compile errors'
+ * requirement, giving repos an accurate look at how the build is passing.
+ *
+ * @author Jaci
+ */
+public class VerificationWorker extends Thread {
+
+    static VerificationWorker worker;
+    static Logger logger;
+
+    public VerificationWorker() {
+        this.setName("Verification Worker");
+    }
+
+    public static void begin() {
+        logger = new Logger("Verification", Logger.ATTR_DEFAULT);
+        worker = new VerificationWorker();
+        worker.start();
+    }
+
+    @Override
+    public void run() {
+        try {
+            logger.info("Beginning Code Verification. Echoing environmental data...");
+            echoEnvironment();
+            logger.info("Starting Code Verification in 5 seconds...");
+            Thread.sleep(5 * 1000);
+            logger.info("Transferring into Autonomous... (Switching to Teleop in 15 seconds)");
+            SimulationData.currentState = RobotState.AUTONOMOUS;
+            Thread.sleep(15 * 1000);
+            logger.info("Transferring into Teleoperated... (Switching to Disabled in 1 minute)");
+            SimulationData.currentState = RobotState.TELEOP;
+            Thread.sleep(60 * 1000);
+            logger.info("Disabling Robot... (Shutting Down in 10 seconds)");
+            SimulationData.currentState = RobotState.DISABLED;
+            Thread.sleep(10 * 1000);
+            logger.info("Code Verification Successful! Shutting Down...");
+            Toast.getToast().shutdownSafely();
+        } catch (Exception e) {
+            logger.error("Exception encountered during verification: " + e);
+            logger.exception(e);
+            Toast.getToast().shutdownCrash();
+        }
+    }
+
+    void echoEnvironment() {
+        logger.info("\tLoaded Modules:");
+        for (ModuleContainer module : ModuleManager.getContainers())
+            logger.info("\t\t" + module.getDetails());
+
+        logger.info("\tLoaded Groovy Scripts:");
+        for (GroovyScript script : GroovyLoader.scripts)
+            logger.info("\t\t" + script.getClass());
+
+        logger.info("\tLoaded Groovy Files:");
+        for (Map.Entry<String, GroovyObject> entry : GroovyLoader.groovyObjects.entrySet())
+            logger.info("\t\t" + entry.getKey() + " : " + entry.getValue());
+
+        
+    }
+
+}

src/main/java/jaci/openrio/toast/lib/crash/CrashHandler.java

@@ -88,7 +88,7 @@ public static void handle(Throwable t) {
 
             Files.copy(recentLog.toPath(), cpFile.toPath());
 
-            Toast.getToast().shutdownSafely();
+            Toast.getToast().shutdownCrash();
         } catch (Exception e) {
         }
     }