Create photon-targeting-JNI framework (#1428)

Initial framework for adding JNI libraries. Auto generated JNI headers and sticks native libraries into the JAR (and adds to class path for testing)

.github/workflows/build.yml

@@ -160,14 +160,14 @@ jobs:
       - run: git fetch --tags --force
       - run: |
           chmod +x gradlew
-          ./gradlew photon-targeting:build photon-lib:build -Pbuildalldesktop -i
-      - run: ./gradlew photon-lib:publish photon-targeting:publish -Pbuildalldesktop
+          ./gradlew photon-targeting:build photon-lib:build -i
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
         name: Publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
-      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts -Pbuildalldesktop
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
       - uses: actions/upload-artifact@v4
         with:
           name: maven-${{ matrix.artifact-name }}

README.md

@@ -40,6 +40,8 @@ Note that these are case sensitive!
 - `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
 - `-Pprofile`: enables JVM profiling
 
+If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
+
 ## Out-of-Source Dependencies
 
 PhotonVision uses the following additonal out-of-source repositories for building code.

build.gradle

@@ -1,12 +1,15 @@
 import edu.wpi.first.toolchain.*
 
 plugins {
+    id "java"
+    id "cpp"
     id "com.diffplug.spotless" version "6.24.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.4' apply false
+    id 'edu.wpi.first.GradleJni' version '1.1.0'
 }
 
 allprojects {

photon-core/src/main/java/org/photonvision/common/hardware/PlatformUtils.java

@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.hardware;
+
+import java.io.IOException;
+import org.photonvision.common.util.ShellExec;
+
+@SuppressWarnings("unused")
+public class PlatformUtils {
+    private static final ShellExec shell = new ShellExec(true, false);
+    private static final boolean isRoot = checkForRoot();
+
+    @SuppressWarnings("StatementWithEmptyBody")
+    private static boolean checkForRoot() {
+        if (Platform.isLinux()) {
+            try {
+                shell.executeBashCommand("id -u");
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+
+            while (!shell.isOutputCompleted()) {
+                // TODO: add timeout
+            }
+
+            if (shell.getExitCode() == 0) {
+                return shell.getOutput().split("\n")[0].equals("0");
+            }
+
+        } else {
+            return true;
+        }
+        return false;
+    }
+
+    public static boolean isRoot() {
+        return isRoot;
+    }
+}

photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java

@@ -24,6 +24,7 @@ import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.DataChangeSource;
 import org.photonvision.common.dataflow.events.DataChangeEvent;
 import org.photonvision.common.hardware.Platform;
+import org.photonvision.common.hardware.PlatformUtils;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;
@@ -54,7 +55,7 @@ public class NetworkManager {
         var config = ConfigManager.getInstance().getConfig().getNetworkConfig();
         logger.info("Setting " + config.connectionType + " with team " + config.ntServerAddress);
         if (Platform.isLinux()) {
-            if (!Platform.isRoot()) {
+            if (!PlatformUtils.isRoot()) {
                 logger.error("Cannot manage hostname without root!");
             }
 

photon-lib/build.gradle

@@ -1,3 +1,7 @@
+plugins {
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+}
+
 import java.nio.file.Path
 
 ext {
@@ -314,3 +318,24 @@ publishing {
         }
     }
 }
+
+// setup wpilib bundled native libs
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
+def nativeConfigName = 'wpilibNatives'
+def nativeConfig = configurations.create(nativeConfigName)
+
+def nativeTasks = wpilibTools.createExtractionTasks {
+    configurationName = nativeConfigName
+}
+
+nativeTasks.addToSourceSetResources(sourceSets.test)
+
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())

photon-server/build.gradle

@@ -47,9 +47,7 @@ tasks.register("buildAndCopyUI") {
 
 run {
     environment "PATH_PREFIX", "../"
-}
 
-run {
     if (project.hasProperty("profile")) {
         jvmArgs=[
             "-Dcom.sun.management.jmxremote=true",
@@ -105,7 +103,7 @@ task findDeployTarget {
 
 task deploy {
     dependsOn findDeployTarget
-    dependsOn assemble
+    dependsOn 'shadowJar'
 
     doLast {
         println 'Starting deployment to ' + findDeployTarget.rmt.host

photon-targeting/build.gradle

@@ -1,3 +1,7 @@
+plugins {
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+}
+
 ext {
     nativeName = "photontargeting"
 }
@@ -5,6 +9,7 @@ ext {
 apply plugin: 'cpp'
 apply plugin: 'google-test-test-suite'
 apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: 'edu.wpi.first.GradleJni'
 
 apply from: "${rootDir}/shared/config.gradle"
 apply from: "${rootDir}/shared/javacommon.gradle"
@@ -19,6 +24,20 @@ nativeUtils {
 
 sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
 
+// Folder whose contents will be included in the final jar
+def outputsFolder = file("$buildDir/extra_resources")
+
+// Sync task: like the copy task, but all files that exist in the destination directory will be deleted before copying files
+task syncOutputsFolder(type: Sync) {
+    into outputsFolder
+}
+
+// And package our outputs folder into the final jar
+jar {
+    from outputsFolder
+    dependsOn syncOutputsFolder
+}
+
 model {
     components {
         "${nativeName}"(NativeLibrarySpec) {
@@ -42,14 +61,59 @@ model {
                 it.tasks.withType(CppCompile) {
                     it.dependsOn generateProto
                 }
-                if(project.hasProperty('includePhotonTargeting')) {
-                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpiutil_shared")
+            nativeUtils.useRequiredLibrary(it, "wpimath_shared")
+            nativeUtils.useRequiredLibrary(it, "wpinet_shared")
+            nativeUtils.useRequiredLibrary(it, "wpilibc_shared")
+            nativeUtils.useRequiredLibrary(it, "ntcore_shared")
+        }
+        "${nativeName}JNI"(JniNativeLibrarySpec) {
+
+            enableCheckTask project.hasProperty('doJniCheck')
+            javaCompileTasks << compileJava
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
+
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/jni'
+                        include '**/*.cpp', '**/*.cc'
+                    }
                 }
             }
 
-            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
-            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
-            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+            binaries.all {
+                lib library: nativeName, linkage: 'shared'
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpiutil_shared")
+            nativeUtils.useRequiredLibrary(it, "wpinet_shared")
+            nativeUtils.useRequiredLibrary(it, "ntcore_shared")
+        }
+
+        all {
+            binaries.withType(SharedLibraryBinarySpec) { binary ->
+                // check that we're building for the platform (per PArchOverride/wpilib plat detection)
+                if (binary.targetPlatform.name == jniPlatform) {
+
+                    // only include release binaries (hard coded for now)
+                    def isDebug = binary.buildType.name.contains('debug')
+                    if (!isDebug) {
+                        syncOutputsFolder {
+                            // Just shove the shared library into the root of the jar output by photon-targeting:jar
+                            from(binary.sharedLibraryFile) {
+                                into "nativelibraries/${wpilibNativeName}/"
+                            }
+                            // And (not sure if this is a hack) make the jar task depend on the build task
+                            dependsOn binary.identifier.projectScopedName
+                        }
+                    }
+                }
+            }
         }
     }
     testSuites {
@@ -76,17 +140,11 @@ model {
                 it.tasks.withType(CppCompile) {
                     it.dependsOn generateProto
                 }
-                if(project.hasProperty('includePhotonTargeting')) {
-                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
-                }
             }
 
-            nativeUtils.useRequiredLibrary(it, "cscore_shared")
-            nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
             nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
             nativeUtils.useRequiredLibrary(it, "googletest_static")
             nativeUtils.useRequiredLibrary(it, "apriltag_shared")
-            nativeUtils.useRequiredLibrary(it, "opencv_shared")
         }
     }
 
@@ -129,3 +187,27 @@ cppHeadersZip {
         into '/'
     }
 }
+
+// make sure native libraries can be loaded in tests
+test {
+    classpath += files(outputsFolder)
+    dependsOn syncOutputsFolder
+}
+
+// setup wpilib bundled native libs
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
+def nativeConfigName = 'wpilibNatives'
+def nativeConfig = configurations.create(nativeConfigName)
+
+def nativeTasks = wpilibTools.createExtractionTasks {
+    configurationName = nativeConfigName
+}
+
+nativeTasks.addToSourceSetResources(sourceSets.test)
+
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")

photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java

@@ -17,13 +17,11 @@
 
 package org.photonvision.common.hardware;
 
-import com.jogamp.common.os.Platform.OSType;
 import edu.wpi.first.util.RuntimeDetector;
 import java.io.BufferedReader;
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Paths;
-import org.photonvision.common.util.ShellExec;
 
 @SuppressWarnings("unused")
 public enum Platform {
@@ -63,7 +61,6 @@ public enum Platform {
         UNKNOWN
     }
 
-    private static final ShellExec shell = new ShellExec(true, false);
     public final String description;
     public final String nativeLibraryFolderName;
     public final boolean isPi;
@@ -72,7 +69,6 @@ public enum Platform {
 
     // Set once at init, shouldn't be needed after.
     private static final Platform currentPlatform = getCurrentPlatform();
-    private static final boolean isRoot = checkForRoot();
 
     Platform(
             String description,
@@ -115,10 +111,6 @@ public enum Platform {
         return currentPlatform.nativeLibraryFolderName;
     }
 
-    public static boolean isRoot() {
-        return isRoot;
-    }
-
     public static boolean isSupported() {
         return currentPlatform.isSupported;
     }
@@ -131,29 +123,6 @@ public enum Platform {
     private static final String UnknownPlatformString =
             String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
 
-    @SuppressWarnings("StatementWithEmptyBody")
-    private static boolean checkForRoot() {
-        if (isLinux()) {
-            try {
-                shell.executeBashCommand("id -u");
-            } catch (IOException e) {
-                e.printStackTrace();
-            }
-
-            while (!shell.isOutputCompleted()) {
-                // TODO: add timeout
-            }
-
-            if (shell.getExitCode() == 0) {
-                return shell.getOutput().split("\n")[0].equals("0");
-            }
-
-        } else {
-            return true;
-        }
-        return false;
-    }
-
     private static Platform getCurrentPlatform() {
         if (RuntimeDetector.isWindows()) {
             if (RuntimeDetector.is32BitIntel()) {