robot.gradle

  apply plugin: 'org.ysb33r.doxygen'
  apply plugin: 'cpp'
  apply plugin: 'google-test-test-suite'
  apply plugin: 'edu.wpi.first.GradleRIO'

  ext {
    teamID = 4788
  }

  // Define my targets (RoboRIO) and artifacts (deployable files)
  // This is added by GradleRIO's backing project EmbeddedTools.
  deploy {
    targets {
      roborio(getTargetTypeClass('RoboRIO')) {
        // Team number is loaded either from the .wpilib/wpilib_preferences.json
        // or from command line. If not found an exception will be thrown.
        // You can use getTeamOrDefault(team) instead of getTeamNumber if you
        // want to store a team number in this file.
        team = 4788

        artifacts {
          frcCpp(getArtifactTypeClass('FRCNativeArtifact')) { // <- wtf is this WPI
          }

          frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
            files = project.fileTree('src/main/deploy')
            directory = '/home/lvuser/deploy'
          }
        }
      }
    }
  }

  def deployArtifact = deploy.targets.roborio.artifacts.frcCpp

  // Set to true to run simulation in debug mode
  wpi.cpp.debugSimulation = false

  // Default enable simgui
  wpi.sim.addGui().defaultEnabled = true
  // Enable DS but not by default
  wpi.sim.addDriverstation()

  model {
    components {
      
      frcUserProgram(NativeExecutableSpec) { // frc user
        targetPlatform wpi.platforms.roborio
        if (includeDesktopSupport) {
          targetPlatform wpi.platforms.desktop
        }

        sources.cpp {
          source {
            srcDir 'src/main/cpp' // robot
            include '**/*.cpp', '**/*.cc'
          }

          exportedHeaders {
            srcDir 'src/main/include' // robot

            if (includeSrcInIncludeRoot) {
              srcDir 'src/main/cpp' // robot
            }
          }
        }

        binaries.all {
          if (includeDesktopSupport) {
            cppCompiler.define "WOMBAT_DESKTOP_SUPPORT"
          }

        //   // lib project: mP_Trajedy, library: mP_Trajedy, linkage: 'shared' 
          lib project: ':wombat', library: 'Wombat', linkage: 'static'
        }

        // Specify this component for deploying.
        deployArtifact.component = it

        // Enable run tasks for this component
        wpi.cpp.enableExternalTasks(it)

        // Enable simulation for this component
        wpi.sim.enable(it)
        // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
        wpi.cpp.vendor.cpp(it)
        wpi.cpp.deps.wpilib(it)
      } // frc user
    }

    // testSuites {
    //   "${nativeName}Test"(GoogleTestTestSuiteSpec) {
    //     for(NativeComponentSpec c : $.components) {
    //       if (c.name == nativeName) {
    //         testing c
    //         break
    //       }
    //     }

    //     sources.cpp {
    //       source {
    //         srcDir 'src/test/cpp'
    //         include '**/*.cpp'
    //       }
    //     }

    //     // binaries.all {
    //     //   if (includeDesktopSupport) {
    //     //     cppCompiler.define "WOMBAT_DESKTOP_SUPPORT"
    //     //   }
    //     // }

    //     wpi.cpp.enableExternalTasks(it)

    //     wpi.cpp.vendor.cpp(it)
    //     wpi.cpp.deps.wpilib(it)
    //     wpi.cpp.deps.googleTest(it)
    //   }
    // }
  }

  task sim(dependsOn: "simulate${nativeName}${wpi.platforms.desktop.capitalize()}DebugExecutable")

  doxygen {
    executables {
      doxygen version : '1.8.13'
    }

    generate_html true
    source project.file('src/main/include')
    outputDir new File(buildDir,"docs/doxygen/${nativeName}")
  }