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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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19
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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@@ -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())));