build.xml

<project name="crio-project-build">
	<!--
		Supported Targets
		jar
		clean
		deploy
		run
		javadoc
		jar-deploy
	-->
	<taskdef resource="net/jtools/classloadertask/antlib.xml" classpath="${sunspot.home}/ant/ant-classloadertask.jar"/>
	<classloader loader="system" classpath="${sunspot.home}/ant/commons-net-1.4.1.jar"/>
	<classloader loader="system" classpath="${sunspot.home}/ant/jakarta-oro-2.0.8.jar"/>
	<taskdef resource="net/sf/antcontrib/antlib.xml">
		<classpath>
			<pathelement location="${sunspot.home}/ant/ant-contrib.jar"/>
		</classpath>
	</taskdef>
	
	<taskdef resource="com/sun/spot/sdk/tool/ftp/antlib.xml">
		<classpath>
			<pathelement location="${sunspot.home}/ant/sdktoolftp.jar"/>
			<pathelement location="${sunspot.home}/ant/commons-net-1.4.1.jar"/>
			<pathelement location="${sunspot.home}/ant/jakarta-oro-2.0.8.jar"/>
		</classpath>
	</taskdef>
	<taskdef name="xmltask" classname="com.oopsconsultancy.xmltask.ant.XmlTask">
		<classpath>
            <pathelement location="${sunspot.home}/ant/xmltask.jar"/>
            <pathelement location="ant/xmltask.jar"/>
		</classpath>
	</taskdef>
	
	
	<property file="${user.properties.file}"/>
	<property file="${sunspot.home}/default.properties"/>

    <!-- 
    START TEAM4931 MOD
    -->
    <!--
    The "bin/preverify" executable is platform specific and therefore this 'sunspotfrcsdk' file set cannot be
    used across different platforms. (Normally, the NetBeans installer will place the correct 'preverify' file
    under 'bin' based upon the platform. But since we don't use that installer, we can simply change the build
    to look at the platform and set the "preverify.executable" property to the location of the platform-specific
    executable. 
    
    Note that we've also modified the "crio-preverify" macro call below to pass this property in as an argument.
    The macrodef already had the defaulted argument available; we just are now using it.
    -->
    <condition property="preverify.executable" value="${sunspot.home}/platform-specific/linux-x86/preverify">
        <and>
            <os family="unix"/>
            <not>
            	<!-- Mac OS X is also part of the linux family -->
                <os name="Mac OS X"/>
            </not>
        </and>
    </condition>
    <condition property="preverify.executable" value="${sunspot.home}/platform-specific/macosx-x86/preverify">
        <os name="Mac OS X"/>
    </condition>
    <condition property="preverify.executable" value="${sunspot.home}/platform-specific/windows-x86/preverify">
        <os family="windows"/>
    </condition>
	<condition property="preverify.executable" value="${sunspot.home}/bin/preverify">
		<not>  
		    <isset property="preverify.executable"/>
		</not>
	</condition>
    
    <!--
    <echo>${os.family}</echo>
    <echo>${os.name}</echo>
    <echo>${os.arch}</echo>
    <echo>${preverify.executable}</echo>
    -->
	<!--
    END TEAM4931 MOD
	-->
	

	<import file="ant/compile.xml"/>
	<import file="ant/deploy.xml"/>
	<import file="ant/preverify.xml"/>
	<import file="ant/suite.xml"/>
	<import file="ant/configure.xml"/>
	<import file="ant/jar-app.xml"/>
	<import file="ant/classpath.xml"/>
	<import file="ant/netbeans.xml"/>
	<import file="ant/debug.xml"/>
	<import file="ant/simulate.xml"/>
	
	
    <target name="clean">
		<delete dir="${build.dir}"/>
	</target>
	
    <target name="-actual-compile-compile" depends="clean">
		<mkdir dir="${build.dir}"/>
		<mkdir dir="${classes.dir}"/>
		<crio-compile src.dir="${src.dir}" classes.dir="${classes.dir}" classpath="${classpath}" bootclasspath="${bootclasspath}"/>
    </target>
    <target name="-post-compile"/>
    <target name="compile" depends="-actual-compile-compile,-post-compile"/>
	
    <target name="preverify" depends="compile">
		<mkdir dir="${preverify.dir}"/>
		<mkdir dir="${preverify.raw.util.jar.classes.dir}"/>
        <!--
        START TEAM4931 MOD
        <crio-preverify classes.dir="${classes.dir}" preverify.dir="${preverify.dir}" preverified.util.jars="${classpath}" raw.util.jar.classes.dir="${preverify.raw.util.jar.classes.dir}" raw.util.jars="" bootclasspath="${bootclasspath}"/>
        -->
		<crio-preverify classes.dir="${classes.dir}" preverify.dir="${preverify.dir}" preverified.util.jars="${classpath}" raw.util.jar.classes.dir="${preverify.raw.util.jar.classes.dir}" raw.util.jars="" bootclasspath="${bootclasspath}" preverify.executable="${preverify.executable}"/>
        <!--
        END TEAM4931 MOD
        -->
	</target>
	
    <target name="jar-app" depends="jar"/>
    <target name="jar" depends="preverify">
		<crio-jar preverify.dir="${preverify.dir}" resources.dir="${resources.dir}" to.jar.file="${app.jar.file}" />
	</target>
	
    <target name="suite" depends="jar">
		<mkdir dir="${suite.dir}"/>
		<crio-suite in.jar.file="${app.jar.file}" target.dir="${suite.dir}" image.name="${suite.name}"/>
	</target>
	
    <target name="deploy" depends="suite">
		<crio-configure remoteaddress="${remoteaddress}" type="Java" />
		
		<crio-deploy suite.file="${suite.file}" remoteaddress="${remoteaddress}"/>
		
	</target>
	
    <target name="run">
		<frcrun remoteaddress="${remoteaddress}"/>
	</target>
	
    <target name="javadoc">
		<delete dir="doc"/>
		<mkdir dir="doc"/>
		<javadoc verbose="true" author="true" destdir="doc" link="file:///${sunspot.home}/doc/javadoc" linksource="true">
			<classpath path="${full.classpath}:${full.bootclasspath}"/>
			<fileset dir="src" >
				<filename name="**/*.java"/>
			</fileset>
		</javadoc>
	</target>
	
	<target name="debug" depends="-do-debug"/>
	<target name="debug-run">
        <frcrun remoteaddress="${remoteaddress}" debug="true"/>
	</target>
	
	
    <target name="archive-source">
		<zip destfile="${app.src.zip.file}" basedir="${src.dir}" />
    </target>
	
    <target name="archive-project">
		<zip destfile="${app.project.zip.file}" basedir="${project.dir}" />
    </target>
	
    <!--
    START TEAM4931 MOD
    -->
      <target name="jar-for-simulation" depends="compile">
        <echo>[jar-for-simulation] Building jar.</echo>
        
        <jar destfile="${simulation.jar.file}">
          <manifest>
            <attribute name="Built-By" value="${user.name}"/>
            <attribute name="Robot-Class" value="${robot.class}"/>
            <attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
          </manifest>
          <fileset dir="${classes.dir}" />
          <zipgroupfileset dir="${simulation.lib}" includes="*.jar" /> 
        </jar>
      </target>
    
      <target name="simulate" depends="jar-for-simulation">
        <echo>[simulate] Running Core.</echo>
    
        <exec executable="roscore" spawn="true"/>
        <sleep seconds="5"/>
        <echo>[simulate] Running Gazebo.</echo>
        <exec executable="gazebo" spawn="true">
          <arg value="${simulation.world.file}"/>
          <arg value="-u"/>
        </exec>
        <echo>[simulate] Running Code.</echo>
        <java jar="${simulation.jar.file}" fork="true"/>
      </target>
    <!--
    END TEAM4931 MOD
    -->
	  
	
</project>