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Fix vendordep including all wpilib libraries (#1155)

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* Fix vendordep including all wpilib libraries. Without this fix, users were consuming a massively oversized .jar
This commit is contained in:
Thad House
2024-01-13 16:57:56 -08:00
committed by GitHub
parent a8aa32fab5
commit 6917ec8401
8 changed files with 268 additions and 118 deletions
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34
photon-lib/src/test/java/org/photonvision/OpenCVTest.java
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@@ -26,31 +26,23 @@ package org.photonvision;
import static org.junit.jupiter.api.Assertions.*;
import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.io.IOException;
import java.util.List;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.opencv.core.Core;
import org.photonvision.estimation.CameraTargetRelation;
import org.photonvision.estimation.OpenCVHelp;
import org.photonvision.estimation.RotTrlTransform3d;
import org.photonvision.estimation.TargetModel;
import org.photonvision.simulation.SimCameraProperties;
import org.photonvision.simulation.VisionSystemSim;
import org.photonvision.simulation.VisionTargetSim;
public class OpenCVTest {
@@ -84,28 +76,8 @@ public class OpenCVTest {
private static final SimCameraProperties prop = new SimCameraProperties();
@BeforeAll
public static void setUp() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
AprilTagJNI.Helper.setExtractOnStaticLoad(false);
try {
CombinedRuntimeLoader.loadLibraries(
VisionSystemSim.class,
"wpiutiljni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
Core.NATIVE_LIBRARY_NAME,
"cscorejni",
"apriltagjni");
} catch (Exception e) {
e.printStackTrace();
}
public static void setUp() throws IOException {
CameraServerCvJNI.forceLoad();
// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();

19
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
View File

@@ -30,17 +30,11 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
@@ -56,19 +50,6 @@ class PhotonPoseEstimatorTest {
@BeforeAll
public static void init() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
try {
CombinedRuntimeLoader.loadLibraries(
PhotonPoseEstimatorTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
List<AprilTag> tagList = new ArrayList<>(2);
tagList.add(new AprilTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
tagList.add(new AprilTag(1, new Pose3d(5, 5, 5, new Rotation3d())));

31
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
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@@ -30,10 +30,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -42,11 +38,7 @@ import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Stream;
@@ -58,7 +50,6 @@ import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import org.junit.jupiter.params.provider.ValueSource;
import org.opencv.core.Core;
import org.photonvision.estimation.TargetModel;
import org.photonvision.estimation.VisionEstimation;
import org.photonvision.simulation.PhotonCameraSim;
@@ -85,28 +76,6 @@ class VisionSystemSimTest {
@BeforeAll
public static void setUp() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
AprilTagJNI.Helper.setExtractOnStaticLoad(false);
try {
CombinedRuntimeLoader.loadLibraries(
VisionSystemSim.class,
"wpiutiljni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
Core.NATIVE_LIBRARY_NAME,
"cscorejni",
"apriltagjni");
} catch (Exception e) {
e.printStackTrace();
}
// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();

25
photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java
View File

@@ -26,14 +26,8 @@ package org.photonvision.estimation;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.io.IOException;
@@ -44,25 +38,6 @@ import org.photonvision.PhotonPoseEstimator;
public class ApriltagWorkbenchTest {
@BeforeAll
public static void setUp() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
try {
CombinedRuntimeLoader.loadLibraries(
ApriltagWorkbenchTest.class,
"wpiutiljni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
"cscorejnicvstatic");
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
// No version check for testing
PhotonCamera.setVersionCheckEnabled(false);
}