PhotonVision/photonlib-java-examples/build.gradle

import edu.wpi.first.toolchain.NativePlatforms

apply plugin: "java"
apply plugin: "cpp"
apply plugin: "edu.wpi.first.NativeUtils"

apply from: "${rootDir}/shared/config.gradle"

// Configure wpigui, libglass, libglassnt.
nativeUtils {
  nativeDependencyContainer {
    wpigui(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
      groupId = "edu.wpi.first.wpigui"
      artifactId = "wpigui-cpp"
      headerClassifier = "headers"
      sourceClassifier = "sources"
      ext = "zip"
      version = wpilibVersion
      targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
    }
    libglass(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
      groupId = "edu.wpi.first.glass"
      artifactId = "libglass"
      headerClassifier = "headers"
      sourceClassifier = "sources"
      ext = "zip"
      version = wpilibVersion
      targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
    }
    libglassnt(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
      groupId = "edu.wpi.first.glass"
      artifactId = "libglassnt"
      headerClassifier = "headers"
      sourceClassifier = "sources"
      ext = "zip"
      version = wpilibVersion
      targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
    }

    // Combined
    gui(getNativeDependencyTypeClass('AllPlatformsCombinedNativeDependency')) {
      dependencies = [
                      "libglassnt", "libglass", "wpigui", "imgui_static",
                      "wpimath_static", "ntcore_static", "wpiutil_static"]
    }
  }
}

ext {
    exampleFile = new File("$projectDir/src/main/java/org/photonlib/examples/examples.json")
}

dependencies {
    implementation project(":photon-lib")
    implementation project(":photon-targeting")

    implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
    implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
    implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
    implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
    implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
    implementation "com.fasterxml.jackson.core:jackson-databind:2.10.0"
    implementation "edu.wpi.first.thirdparty.frc2022.opencv:opencv-java:$opencvVersion"
}

model {
    components {
        dev(NativeExecutableSpec) {
            targetBuildTypes "debug"
            sources {
                cpp {
                    source {
                        srcDirs "src/dev/native/cpp"
                        include "**/*.cpp"
                    }
                    exportedHeaders {
                        srcDirs "src/dev/native/include"
                    }
                }
            }
            binaries.all { binary ->
                nativeUtils.useRequiredLibrary(binary, "wpilib_executable_shared")
                nativeUtils.useRequiredLibrary(binary, "opencv_shared")
            }
        }
    }
    tasks {
        def found = false
        $.components.each {
            if (it in NativeExecutableSpec && it.name == "dev") {
                it.binaries.each {
                    if (found)
                        return

                    def arch = it.targetPlatform.name
                    if (arch == NativePlatforms.desktop) {
                        found = true
                        def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + "lib"

                        def doFirstTask = { task ->
                            def extensions = ""
                            it.tasks.install.installDirectory.get().getAsFile().eachFileRecurse {
                                def name = it.name
                                if (!(name.endsWith(".dll") || name.endsWith(".so") || name.endsWith(".dylib"))) {
                                    return
                                }
                                def file = it
                                if (name.startsWith("halsim_gui") || name.startsWith("libhalsim_gui".toString())) {
                                    extensions += file.absolutePath + File.pathSeparator
                                }
                            }
                            if (extensions != "") {
                                task.environment "HALSIM_EXTENSIONS", extensions
                            }
                        }

                        new groovy.json.JsonSlurper().parseText(exampleFile.text).each { entry ->
                            project.tasks.create("run${entry.foldername}", JavaExec) { run ->
                                main = "org.photonlib.examples." + entry.foldername + ".Main"
                                classpath = sourceSets.main.runtimeClasspath
                                run.dependsOn it.tasks.install
                                run.systemProperty "java.library.path", filePath
                                run.environment "LD_LIBRARY_PATH", filePath
                                run.workingDir filePath
                                doFirst { doFirstTask(run) }

                                if (org.gradle.internal.os.OperatingSystem.current().isMacOsX()) {
                                    run.jvmArgs = ["-XstartOnFirstThread"]
                                }
                            }
                        }

                    }
                }
            }
        }
    }
}