initial commit

.gitattributes

@@ -0,0 +1,9 @@
+#
+# https://help.github.com/articles/dealing-with-line-endings/
+#
+# Linux start script should use lf
+/gradlew        text eol=lf
+
+# These are Windows script files and should use crlf
+*.bat           text eol=crlf
+

.gitignore

@@ -0,0 +1,24 @@
+# Ignore Gradle project-specific cache directory
+.gradle
+
+# Ignore Gradle build output directory
+build
+
+## Eclipse
+
+.classpath
+.project
+.metadata/
+/android/bin/
+/core/bin/
+/desktop/bin/
+/html/bin/
+/ios/bin/
+*.tmp
+*.bak
+*.swp
+*~.nib
+.settings/
+.loadpath
+.externalToolBuilders/
+*.launch

app/build.gradle

@@ -0,0 +1,53 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ *
+ * This generated file contains a sample Java application project to get you started.
+ * For more details on building Java & JVM projects, please refer to https://docs.gradle.org/8.3/userguide/building_java_projects.html in the Gradle documentation.
+ */
+
+plugins {
+    // Apply the application plugin to add support for building a CLI application in Java.
+    id 'application'
+    id 'eclipse'
+}
+
+mainClassName = 'com.cringe_studios.magicianproject.App'
+
+repositories {
+    // Use Maven Central for resolving dependencies.
+    mavenCentral()
+}
+
+dependencies {
+    // This dependency is used by the application.
+    implementation 'net.java.dev.jna:jna:5.13.0'
+}
+
+// Apply a specific Java toolchain to ease working on different environments.
+java {
+    toolchain {
+        languageVersion = JavaLanguageVersion.of(17)
+    }
+}
+
+application {
+    // Define the main class for the application.
+    mainClass = project.mainClassName
+}
+
+task dist(type: Jar) {
+    duplicatesStrategy(DuplicatesStrategy.EXCLUDE)
+    manifest {
+        attributes 'Main-Class': project.mainClassName
+    }
+    dependsOn configurations.runtimeClasspath
+    from {
+        configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) }
+    }
+    with jar
+}
+
+configure(dist) {
+    group = 'build'
+    description = 'Build a JAR with all dependencies'
+}

app/src/main/java/com/cringe_studios/magicianproject/App.java

@@ -0,0 +1,179 @@
+/*
+ * This Java source file was generated by the Gradle 'init' task.
+ */
+package com.cringe_studios.magicianproject;
+
+import java.util.Timer;
+import java.util.TimerTask;
+
+import com.cringe_studios.magicianproject.lib.DobotDll;
+import com.cringe_studios.magicianproject.lib.DobotDll.DobotResult;
+import com.cringe_studios.magicianproject.lib.DobotDll.EndEffectorParams;
+import com.cringe_studios.magicianproject.lib.DobotDll.JOGCommonParams;
+import com.cringe_studios.magicianproject.lib.DobotDll.JOGCoordinateParams;
+import com.cringe_studios.magicianproject.lib.DobotDll.JOGJointParams;
+import com.cringe_studios.magicianproject.lib.DobotDll.PTPCmd;
+import com.cringe_studios.magicianproject.lib.DobotDll.PTPCoordinateParams;
+import com.cringe_studios.magicianproject.lib.DobotDll.PTPJointParams;
+import com.cringe_studios.magicianproject.lib.DobotDll.PTPJumpParams;
+import com.cringe_studios.magicianproject.lib.DobotDll.Pose;
+import com.sun.jna.ptr.FloatByReference;
+import com.sun.jna.ptr.LongByReference;
+
+public class App {
+
+	public static void main(String[] args) {
+		try {
+
+			App app = new App();
+			app.Start();
+
+			LongByReference ib = new LongByReference();
+			/*
+			 * JOGCmd test = new JOGCmd(); test.isJoint = 1; while(true) { try{ test.cmd =
+			 * 1; DobotDll.instance.SetJOGCmd(test, false, ib); Thread.sleep(500); test.cmd
+			 * = 0; DobotDll.instance.SetJOGCmd(test, false, ib); Thread.sleep(1000);
+			 * test.cmd = 2; DobotDll.instance.SetJOGCmd(test, false, ib);
+			 * Thread.sleep(500); test.cmd = 0; DobotDll.instance.SetJOGCmd(test, false,
+			 * ib); Thread.sleep(1000);
+			 *
+			 * } catch (Exception e) { e.printStackTrace(); } }
+			 */
+
+			while (true) {
+				try {
+					PTPCmd ptpCmd = new PTPCmd();
+					ptpCmd.ptpMode = 0;
+					ptpCmd.x = 260;
+					ptpCmd.y = 0;
+					ptpCmd.z = 50;
+					ptpCmd.r = 0;
+					DobotDll.instance.SetPTPCmd(ptpCmd, true, ib);
+					// Thread.sleep(200);
+
+					ptpCmd.ptpMode = 0;
+					ptpCmd.x = 220;
+					ptpCmd.y = 0;
+					ptpCmd.z = 80;
+					ptpCmd.r = 0;
+					DobotDll.instance.SetPTPCmd(ptpCmd, true, ib);
+					// Thread.sleep(200);
+
+				} catch (Exception e) {
+					e.printStackTrace();
+				}
+			}
+			// DobotDll.instance.DisconnectDobot();
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+	}
+
+	private void Start() {
+		byte[] fwtype = new byte[128];
+		byte[] version = new byte[128];
+		FloatByReference time = new FloatByReference(0);
+		DobotResult ret = DobotResult.values()[DobotDll.instance.ConnectDobot((char) 0, 115200, fwtype, version, time)];
+		// <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		if (ret == DobotResult.DobotConnect_NotFound || ret == DobotResult.DobotConnect_Occupied) {
+			Msg("Connect error, code:" + ret.name());
+			return;
+		}
+		Msg("connect success code:" + ret.name());
+
+		StartDobot();
+
+		StartGetStatus();
+	}
+
+	/*
+	 * (non-Java-doc)
+	 *
+	 * @see java.lang.Object#Object()
+	 */
+	public App() {
+		super();
+	}
+
+	private void StartDobot() {
+		// 此方程初始化Dobot的运动参数例如运动时的速度与加速度
+		// This function initializes common parameters of Dobot host such as velocity
+		// and acceleration in motion
+		LongByReference ib = new LongByReference();
+		EndEffectorParams endEffectorParams = new EndEffectorParams();
+		endEffectorParams.xBias = 71.6f;
+		endEffectorParams.yBias = 0;
+		endEffectorParams.zBias = 0;
+		DobotDll.instance.SetEndEffectorParams(endEffectorParams, false, ib);
+		JOGJointParams jogJointParams = new JOGJointParams();
+		for (int i = 0; i < 4; i++) {
+			jogJointParams.velocity[i] = 200;
+			jogJointParams.acceleration[i] = 200;
+		}
+		DobotDll.instance.SetJOGJointParams(jogJointParams, false, ib);
+
+		JOGCoordinateParams jogCoordinateParams = new JOGCoordinateParams();
+		for (int i = 0; i < 4; i++) {
+			jogCoordinateParams.velocity[i] = 200;
+			jogCoordinateParams.acceleration[i] = 200;
+		}
+		DobotDll.instance.SetJOGCoordinateParams(jogCoordinateParams, false, ib);
+
+		JOGCommonParams jogCommonParams = new JOGCommonParams();
+		jogCommonParams.velocityRatio = 50;
+		jogCommonParams.accelerationRatio = 50;
+		DobotDll.instance.SetJOGCommonParams(jogCommonParams, false, ib);
+
+		PTPJointParams ptpJointParams = new PTPJointParams();
+		for (int i = 0; i < 4; i++) {
+			ptpJointParams.velocity[i] = 200;
+			ptpJointParams.acceleration[i] = 200;
+		}
+		DobotDll.instance.SetPTPJointParams(ptpJointParams, false, ib);
+
+		PTPCoordinateParams ptpCoordinateParams = new PTPCoordinateParams();
+		ptpCoordinateParams.xyzVelocity = 200;
+		ptpCoordinateParams.xyzAcceleration = 200;
+		ptpCoordinateParams.rVelocity = 200;
+		ptpCoordinateParams.rAcceleration = 200;
+		DobotDll.instance.SetPTPCoordinateParams(ptpCoordinateParams, false, ib);
+
+		PTPJumpParams ptpJumpParams = new PTPJumpParams();
+		ptpJumpParams.jumpHeight = 20;
+		ptpJumpParams.zLimit = 180;
+		DobotDll.instance.SetPTPJumpParams(ptpJumpParams, false, ib);
+
+		// 设置指令超时时间 清空队列中剩余的指令 并开始执行队列 注:有两种方法可以执行队列 1.先调用api函数setQueuedCmdStartExec()
+		// 然后将指令插入队列中 2.先将指令插入到队列 再调用函数开始执行队列
+		// Set timeout limit and start executing command queue. NOTE: There are two ways
+		// to execute the command queue.1.Call API function setQueueStartExec() first
+		// then queue command
+		// 2. Queue command then call the API function
+		DobotDll.instance.SetCmdTimeout(3000);
+		DobotDll.instance.SetQueuedCmdClear();
+		DobotDll.instance.SetQueuedCmdStartExec();
+	}
+
+	private void StartGetStatus() {
+		// 此函数调用GetPose用于定时获得dobot的实时位置
+		// This function call api function GetPose to get the real time pose of Dobot
+		// host periodically.
+		Timer timerPos = new Timer();
+		timerPos.schedule(new TimerTask() {
+			@Override
+			public void run() {
+				Pose pose = new Pose();
+				DobotDll.instance.GetPose(pose);
+
+				Msg("joint1Angle=" + pose.jointAngle[0] + "  " + "joint2Angle=" + pose.jointAngle[1] + "  "
+						+ "joint3Angle=" + pose.jointAngle[2] + "  " + "joint4Angle=" + pose.jointAngle[3] + "  " + "x="
+						+ pose.x + "  " + "y=" + pose.y + "  " + "z=" + pose.z + "  " + "r=" + pose.r + "  ");
+			}
+		}, 100, 500);//
+	}
+
+	private void Msg(String string) {
+		System.out.println(string);
+	}
+
+}

app/src/main/java/com/cringe_studios/magicianproject/lib/DobotDll.java

@@ -0,0 +1,253 @@
+package com.cringe_studios.magicianproject.lib;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import com.sun.jna.Library;
+import com.sun.jna.Native;
+import com.sun.jna.Structure;
+import com.sun.jna.ptr.FloatByReference;
+import com.sun.jna.ptr.LongByReference;
+/* 此文件定义了将在主程序中被使用的类 将dll库中使用的类型封装为对应的java类型
+ * This file define the classes that will be used in the main program. It encapsulates c-structures as corresponding Java class
+ */
+public interface DobotDll extends Library
+{
+	DobotDll instance = Native.load("DobotDll", DobotDll.class);
+
+    public static class Pose extends Structure
+    {
+    	//如果Pose只是作为api的参数或返回值则不需要另外声明传递的Pose为ByReference或ByValue 因为JNA将根据c中的定义自行转换  类中的类型声明顺序必须与提供的c头文件相符合
+    	//Notice that if the structre is only to be used in api functions as arguments or return value there is no need to include this two line
+    	//The declaration must be in the same order as such in the original c header file DobotDllM1.h
+    	/*
+    	public static class ByReference extends Pose implements Structure.ByReference{}
+    	public static class ByValue extends Pose implements Structure.ByValue{}
+    	*/
+        public float x;
+        public float y;
+        public float z;
+        public float r;
+        public float[] jointAngle = new float[4];;
+
+		@Override
+		//此步骤为必要步骤 JNA现要求编写时手动规定类中的fields顺序
+		//The getFieldOrder() function must be defined and return a string list represent the proper order of the fields defined in current structure
+		protected List<String> getFieldOrder()
+		{
+			List<String> a = new ArrayList<String>();
+			a.add("x");
+			a.add("y");
+			a.add("z");
+			a.add("r");
+			a.add("jointAngle");
+			return a;
+		}
+		//初始化实例时需声明内存按照1byte对齐对应c中头文件的pragma pack(1) 注：部分类型缺少此初始化函数 因为结构本身已经按照1byte对齐
+		//You must initialize the encapsulated class with 1 byte memory alignment corresponding to pragma pack(1) in the c header file.
+		//NOTE:some classes defined in this module miss this initialization function because their memory layouts are naturally aligned to one byte.
+		public Pose()
+		{
+			this.setAlignType(ALIGN_NONE);
+		}
+    };
+
+    public static class EndEffectorParams extends Structure
+    {
+        public float xBias;
+        public float yBias;
+        public float zBias;
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("xBias");
+		       a.add("yBias");
+		       a.add("zBias");
+		       return a;
+		}
+    };
+
+    public enum JOG
+    {
+        JogIdle,
+        JogAPPressed,
+        JogANPressed,
+        JogBPPressed,
+        JogBNPressed,
+        JogCPPressed,
+        JogCNPressed,
+        JogDPPressed,
+        JogDNPressed,
+        JogEPPressed,
+        JogENPressed
+    };
+
+    public static class JOGCmd extends Structure
+    {
+    	public JOGCmd() {
+		    setAlignType(Structure.ALIGN_NONE);
+		}
+        public byte isJoint;
+        public byte cmd;
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("isJoint");
+		       a.add("cmd");
+		       return a;
+		}
+    };
+
+    public static class JOGJointParams extends Structure
+    {
+        public float[] velocity = new float[4];
+        public float[] acceleration = new float[4];
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("velocity");
+		       a.add("acceleration");
+		       return a;
+		}
+    };
+
+    public static class JOGCoordinateParams extends Structure
+    {
+        public float[] velocity = new float[4];
+        public float[] acceleration = new float[4];
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("velocity");
+		       a.add("acceleration");
+		       return a;
+		}
+    };
+
+    public static class JOGCommonParams extends Structure
+    {
+        public float velocityRatio;
+        public float accelerationRatio;
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("velocityRatio");
+		       a.add("accelerationRatio");
+		       return a;
+		}
+    };
+
+    public enum PTPMode {
+        PTPJUMPXYZMode,
+        PTPMOVJXYZMode,
+        PTPMOVLXYZMode,
+
+        PTPJUMPANGLEMode,
+        PTPMOVJANGLEMode,
+        PTPMOVLANGLEMode,
+
+        PTPMOVJXYZINCMode,
+        PTPMOVLXYZINCMode
+    };
+
+    public static class PTPCmd extends Structure
+    {
+    	public PTPCmd() {
+		    setAlignType(Structure.ALIGN_NONE);
+		}
+    	/*
+    	public static class ByReference extends PTPCmd implements Structure.ByReference { }
+        public static class ByValue extends PTPCmd implements Structure.ByValue{ }
+        */
+        public byte ptpMode;
+        public float x;
+        public float y;
+        public float z;
+        public float r;
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("ptpMode");
+		       a.add("x");
+		       a.add("y");
+		       a.add("z");
+		       a.add("r");
+		       return a;
+		}
+    };
+
+    public static class PTPJointParams extends Structure
+    {
+        public float[] velocity = new float[4];
+        public float[] acceleration = new float[4];
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("velocity");
+		       a.add("acceleration");
+		       return a;
+		}
+    };
+
+    public static class PTPCoordinateParams extends Structure
+    {
+        public float xyzVelocity;
+        public float rVelocity;
+        public float xyzAcceleration;
+        public float rAcceleration;
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("xyzVelocity");
+		       a.add("rVelocity");
+		       a.add("xyzAcceleration");
+		       a.add("rAcceleration");
+		       return a;
+		}
+    };
+
+    public static class PTPJumpParams extends Structure
+    {
+        public float jumpHeight;
+        public float zLimit;
+		@Override
+		protected List<String> getFieldOrder() {
+			List<String> a = new ArrayList<String>();
+		       a.add("jumpHeight");
+		       a.add("zLimit");
+		       return a;
+		}
+    };
+
+    public enum DobotResult
+    {
+        DobotConnect_NoError,
+        DobotConnect_NotFound,
+        DobotConnect_Occupied
+    };
+    //c中的char* 对应 java中的byte【】
+    int ConnectDobot(char portName, int baudrate, byte[] fwtype, byte[] version, FloatByReference time);
+    void DisconnectDobot();
+    void SetCmdTimeout(int cmdTimeout);
+    int SetQueuedCmdClear();
+    int SetQueuedCmdStartExec();
+    int SetEndEffectorParams(EndEffectorParams endEffectorParams, boolean isQueued, LongByReference queuedCmdIndex);
+    int DobotExec();
+
+    // Pose
+    int GetPose(Pose pose);
+
+    // Jog functions
+    // C中的float对应java中的long
+    // Float in c correspond to long in java
+    int SetJOGCmd(JOGCmd jogCmd, boolean isQueued, LongByReference ueuedCmdIndex);
+    int SetJOGJointParams(JOGJointParams jogJointParams, boolean isQueued, LongByReference ueuedCmdIndex);
+    int SetJOGCoordinateParams(JOGCoordinateParams jogCoordinateParams, boolean isQueued, LongByReference ueuedCmdIndex);
+    int SetJOGCommonParams(JOGCommonParams jogCommonParams, boolean isQueued, LongByReference ueuedCmdIndex);
+
+    // Playback functions
+    int SetPTPCmd(PTPCmd ptpCmd, boolean isQueued, LongByReference queuedCmdIndex);
+    int SetPTPJointParams(PTPJointParams ptpJointParams, boolean isQueued, LongByReference ueuedCmdIndex);
+    int SetPTPCoordinateParams(PTPCoordinateParams ptpCoordinateParams, boolean isQueued, LongByReference ueuedCmdIndex);
+    int SetPTPJumpParams(PTPJumpParams ptpJumpParams, boolean isQueued, LongByReference ueuedCmdIndex);
+}

gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.3-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists

gradlew

@@ -0,0 +1,249 @@
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD=$JAVA_HOME/jre/sh/java
+    else
+        JAVACMD=$JAVA_HOME/bin/java
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"

gradlew.bat

@@ -0,0 +1,92 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

settings.gradle

@@ -0,0 +1,14 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ *
+ * The settings file is used to specify which projects to include in your build.
+ * For more detailed information on multi-project builds, please refer to https://docs.gradle.org/8.3/userguide/building_swift_projects.html in the Gradle documentation.
+ */
+
+plugins {
+    // Apply the foojay-resolver plugin to allow automatic download of JDKs
+    id 'org.gradle.toolchains.foojay-resolver-convention' version '0.4.0'
+}
+
+rootProject.name = 'MagicianProject'
+include('app')