PhotonVision/photon-lib/build.gradle

plugins {
    id 'edu.wpi.first.WpilibTools' version '1.3.0'
}

import java.nio.file.Path

ext {
    nativeName = "photonlib"
    includePhotonTargeting = true
    // Include the generated Version file
    generatedHeaders = "src/generate/native/include"
}

apply plugin: 'cpp'
apply plugin: 'google-test-test-suite'
apply plugin: 'edu.wpi.first.NativeUtils'

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

apply from: "${rootDir}/versioningHelper.gradle"

nativeUtils {
    exportsConfigs {
        "${nativeName}" {
            // From https://github.com/wpilibsuite/allwpilib/blob/a32589831184969939fd3d63f449a2788a0a8542/wpimath/build.gradle#L72
            // Copyright (c) FIRST and other WPILib contributors.
            // Open Source Software; you can modify and/or share it under the terms of
            // the WPILib BSD license file in the root directory of this project.
            x64ExcludeSymbols = [
                '_CT??_R0?AV_System_error',
                '_CT??_R0?AVexception',
                '_CT??_R0?AVfailure',
                '_CT??_R0?AVruntime_error',
                '_CT??_R0?AVsystem_error',
                '_CTA5?AVfailure',
                '_TI5?AVfailure',
                '_CT??_R0?AVout_of_range',
                '_CTA3?AVout_of_range',
                '_TI3?AVout_of_range',
                '_CT??_R0?AVbad_cast'
            ]
        }
    }
}

model {
    components {
        "${nativeName}"(NativeLibrarySpec) {
            sources {
                cpp {
                    source {
                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp", "src/generate/native/cpp"
                        include '**/*.cpp', '**/*.cc'
                    }
                    exportedHeaders {
                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
                        if (project.hasProperty('generatedHeaders')) {
                            srcDir generatedHeaders
                        }
                        include "**/*.h"
                    }
                }
            }

            binaries.all {
                it.tasks.withType(CppCompile) {
                    it.dependsOn generateProto
                }
                if(project.hasProperty('includePhotonTargeting')) {
                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
                }
            }

            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
            nativeUtils.useRequiredLibrary(it, "opencv_shared")
            nativeUtils.useRequiredLibrary(it, "cscore_shared")
            nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
        }
    }
    testSuites {
        "${nativeName}Test"(GoogleTestTestSuiteSpec) {
            for(NativeComponentSpec c : $.components) {
                if (c.name == nativeName) {
                    testing c
                    break
                }
            }
            sources {
                cpp {
                    source {
                        srcDirs 'src/test/native/cpp'
                        include '**/*.cpp'
                    }
                    exportedHeaders {
                        srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
                    }
                }
            }

            binaries.all {
                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")
        }
    }

    tasks {
        def c = $.testSuites
        project.tasks.create('runCpp', Exec) {
            description = "Run the photon-lib executable"
            def found = false
            def systemArch = getCurrentArch()
            c.each {
                if (it in GoogleTestTestSuiteSpec && it.name == "${nativeName}Test") {
                    it.binaries.each {
                        if (!found) {
                            def arch = it.targetPlatform.name
                            if (arch == systemArch) {
                                dependsOn it.tasks.install
                                commandLine it.tasks.install.runScriptFile.get().asFile.toString()
                                def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
                                test.dependsOn it.tasks.install
                                test.systemProperty 'java.library.path', filePath
                                test.environment 'LD_LIBRARY_PATH', filePath
                                test.environment 'DYLD_LIBRARY_PATH', filePath
                                test.workingDir filePath

                                found = true
                            }
                        }
                    }
                }
            }
        }
    }
}

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

// Include the version file in the distributed sources
cppHeadersZip {
    from('src/generate/native/include') {
        into '/'
    }
}

def photonlibFileInput = file("src/generate/photonlib.json.in")
ext.photonlibFileOutput = file("$buildDir/generated/vendordeps/photonlib.json")

task generateVendorJson() {
    description = "Generates the vendor JSON file"
    group = "PhotonVision"

    outputs.file photonlibFileOutput
    inputs.file photonlibFileInput

    println "Writing vendor JSON ${pubVersion} to $photonlibFileOutput"

    if (photonlibFileOutput.exists()) {
        photonlibFileOutput.delete()
    }
    photonlibFileOutput.parentFile.mkdirs()

    def read = photonlibFileInput.text
            .replace('${photon_version}', pubVersion)
            .replace('${frc_year}', frcYear)
    photonlibFileOutput.text = read

    outputs.upToDateWhen { false }
}

build.mustRunAfter generateVendorJson
publish.mustRunAfter generateVendorJson

task publishVendorJsonToLocalOutputs(type: Copy) {
    from photonlibFileOutput
    into "$allOutputsFolder/vendordeps/"

    // Rename to match the name of the JSON we publish to maven to avoid user confusion
    rename { String fileName ->
        fileName.replace(".json", "-json-1.0.json")
    }

    publish.dependsOn it
}

task writeCurrentVersion {
    def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
    writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
            versionString)
    versionFileIn = file("${rootDir}/shared/PhotonVersion.cpp.in")
    writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "generate", "native", "cpp", "PhotonVersion.cpp"),
            versionString)
}

build.mustRunAfter writeCurrentVersion
cppHeadersZip.dependsOn writeCurrentVersion

// Building photon-lib requires photon-targeting to generate its proto files. This technically shouldn't be required but is needed for it to build.
model {
    components {
        all {
            it.sources.each {
                it.exportedHeaders {
                    srcDirs "src/main/native/include"
                    srcDirs "src/generate/native/include"
                }
            }
            it.binaries.all {
                it.tasks.withType(CppCompile) {
                    it.dependsOn ":photon-targeting:generateProto"
                }
            }
        }
    }
    testSuites {
        all {
            it.binaries.all {
                it.tasks.withType(CppCompile) {
                    it.dependsOn ":photon-targeting:generateProto"
                }
            }
        }
    }
}

def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))

if (!project.hasProperty('copyOfflineArtifacts')) {
    // Publish the vendordep json
    publishing {
        publications {
            vendorjson(MavenPublication) {
                artifact vendorJson

                artifactId = "${nativeName}-json"
                groupId = "org.photonvision"
                version "1.0"
            }
        }
    }
}

// Add photonversion to cpp sources zip
tasks.named('cppSourcesZip') {
    dependsOn writeCurrentVersion

    from("$projectDir/src/generate/native/cpp") {
        into '/'
    }
}

// Publish an uberzip with photon-lib and photon-targeting. This makes python binding easier to have it in one place
def zipBaseNameCombined = '_GROUP_org.photonvision_combinedcpp_ID_photonvision-combinedcpp_CLS'
task combinedCppSourcesZip(type: Zip) {
    dependsOn(':photon-lib:cppSourcesZip', ':photon-targeting:cppSourcesZip')
    mustRunAfter(':photon-lib:cppHeadersZip', ':photon-targeting:cppHeadersZip')

    destinationDirectory = file("$buildDir/outputs")
    archiveBaseName = zipBaseNameCombined
    archiveClassifier = "sources"

    // Include the contents of the photon-lib cppSourcesZip. Magic chatgpt nonsense
    from(zipTree(project(':photon-lib').tasks.cppSourcesZip.archiveFile.get().asFile)) {
        into 'photon-lib'
    }
    from(zipTree(project(':photon-targeting').tasks.cppSourcesZip.archiveFile.get().asFile)) {
        into 'photon-targeting'
    }

    duplicatesStrategy = DuplicatesStrategy.FAIL
}
task combinedHeadersZip(type: Zip) {
    dependsOn(':photon-lib:cppHeadersZip', ':photon-targeting:cppHeadersZip')
    mustRunAfter(':photon-lib:cppHeadersZip', ':photon-targeting:cppHeadersZip')

    destinationDirectory = file("$buildDir/outputs")
    archiveBaseName = zipBaseNameCombined
    archiveClassifier = "headers"

    // Include the contents of the photon-lib cppHeadersZip. Magic chatgpt nonsense
    from(zipTree(project(':photon-lib').tasks.cppHeadersZip.archiveFile.get().asFile)) {
        into 'photon-lib'
    }
    from(zipTree(project(':photon-targeting').tasks.cppHeadersZip.archiveFile.get().asFile)) {
        into 'photon-targeting'
    }

    duplicatesStrategy = DuplicatesStrategy.FAIL
}

// Add the uberzip to our maven publications
publishing {
    publications {
        // Don't publish if we're creating an offline zip
        if (!project.hasProperty('copyOfflineArtifacts')) {
            combinedcpp(MavenPublication) {
                artifact combinedCppSourcesZip
                artifact combinedHeadersZip

                artifactId = "${nativeName}-combinedcpp"
                groupId artifactGroupId
                version pubVersion
            }
        }
    }
}

// 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())