PhotonVision/photon-lib/build.gradle

plugins {
    id 'edu.wpi.first.WpilibTools' version '1.1.0'
}

import java.nio.file.Path

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

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

test {
    useJUnitPlatform()
}

sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11

wpilibTools.deps.wpilibVersion = wpilibVersion
println("Building for WPILib ${wpilibTools.deps.wpilibVersion}")

// From wpilib shared/config.gradle:
// NativeUtils adds the following OpenCV warning suppression for Linux, but not
// for macOS
// https://github.com/opencv/opencv/issues/20269
nativeUtils.platformConfigs.osxuniversal.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion")
nativeUtils.platformConfigs.linuxathena.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion")
// nativeUtils.platformConfigs.linuxx64.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion")

// Apply Java configuration
dependencies {
    implementation project(":photon-targeting")

    // WPILib deps
    implementation wpilibTools.deps.wpilibJava("wpiutil")
    implementation wpilibTools.deps.wpilibJava("cameraserver")
    implementation wpilibTools.deps.wpilibJava("cscore")
    implementation wpilibTools.deps.wpilibJava("wpimath")
    implementation wpilibTools.deps.wpilibJava("wpinet")
    implementation wpilibTools.deps.wpilibJava("hal")
    implementation wpilibTools.deps.wpilibJava("ntcore")
    implementation wpilibTools.deps.wpilibJava("wpilibj")
    implementation wpilibTools.deps.wpilibJava("apriltag")

    // Jackson
    implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
    implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
    implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"

    implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:$openCVversion"
    implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-jni:$openCVversion:$jniPlatform"

    implementation "org.ejml:ejml-simple:0.42"

    // Junit
    testImplementation wpilibTools.deps.wpilibJava("cscore")
    testImplementation("org.junit.jupiter:junit-jupiter-api:5.8.2")
    testImplementation("org.junit.jupiter:junit-jupiter-params:5.8.2")
    testRuntimeOnly("org.junit.jupiter:junit-jupiter-engine:5.8.2")
}

// Set up exports properly
nativeUtils {
    exportsConfigs {
        // Main library is just default empty. This will export everything
        Photon {
        }
    }
}

model {
    components {
        Photon(NativeLibrarySpec) {
            sources {
                cpp {
                    source {
                        srcDirs "src/main/native/cpp"
                        include "**/*.cpp"
                    }
                    exportedHeaders {
                        srcDirs "src/main/native/include"
                        srcDirs "src/generate/native/include"
                    }
                }
            }
            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
            nativeUtils.useRequiredLibrary(it, "opencv_shared")
        }
    }
    testSuites {
        cppTest(GoogleTestTestSuiteSpec) {
            testing $.components.Photon

            sources.cpp {
                source {
                    srcDir "src/test/native/cpp"
                    include "**/*.cpp"
                }
            }

            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
            nativeUtils.useRequiredLibrary(it, "googletest_static")
            nativeUtils.useRequiredLibrary(it, "opencv_shared")
        }
    }
}

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

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("${rootDir}/shared/PhotonVersion.h.in")
    writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "generate", "native", "include", "PhotonVersion.h"),
            versionString)
}

build.mustRunAfter writeCurrentVersion

tasks.withType(Javadoc) {
    options.encoding = 'UTF-8'
}

apply from: "publish.gradle"

def testNativeConfigName = 'wpilibTestNatives'
def testNativeConfig = configurations.create(testNativeConfigName)

def folder = project.layout.buildDirectory.dir('NativeTest')

def testNativeTasks = wpilibTools.createExtractionTasks {
    taskPostfix = "Test"
    configurationName = testNativeConfigName
    rootTaskFolder.set(folder)
}

testNativeTasks.addToSourceSetResources(sourceSets.test)

testNativeConfig.dependencies.add wpilibTools.deps.cscore()
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
testNativeConfig.dependencies.add wpilibTools.deps.cscore()