mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
68fc1e7129
This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more. Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
379 lines
13 KiB
Groovy
379 lines
13 KiB
Groovy
apply plugin: 'org.photonvision.tools.WpilibTools'
|
|
|
|
import java.nio.file.Path
|
|
|
|
ext {
|
|
nativeName = "photonlib"
|
|
includePhotonTargeting = true
|
|
// Include the generated Version file
|
|
generatedHeaders = "src/generate/native/include"
|
|
licenseFile = file("LICENSE")
|
|
}
|
|
|
|
apply plugin: 'cpp'
|
|
apply plugin: 'google-test-test-suite'
|
|
apply plugin: 'org.wpilib.NativeUtils'
|
|
|
|
apply from: "${rootDir}/shared/config.gradle"
|
|
apply from: "${rootDir}/shared/javacommon.gradle"
|
|
|
|
apply from: "${rootDir}/versioningHelper.gradle"
|
|
|
|
nativeUtils {
|
|
exportsConfigs {
|
|
"${nativeName}" {}
|
|
}
|
|
}
|
|
|
|
model {
|
|
components {
|
|
"${nativeName}"(NativeLibrarySpec) {
|
|
sources {
|
|
cpp {
|
|
source {
|
|
srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp", "$buildDir/generated/native/cpp"
|
|
include '**/*.cpp', '**/*.cc'
|
|
}
|
|
exportedHeaders {
|
|
srcDirs 'src/main/native/include', "$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'
|
|
lib project: ':photon-targeting', library: 'photontargetingJNI', linkage: 'shared'
|
|
}
|
|
}
|
|
|
|
nativeUtils.useRequiredLibrary(it, "datalog_shared")
|
|
nativeUtils.useRequiredLibrary(it, "cscore_shared")
|
|
nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
|
|
nativeUtils.useRequiredLibrary(it, "wpilib_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('${frc_year}', frcYear)
|
|
photonlibFileOutput.text = read
|
|
|
|
outputs.upToDateWhen { false }
|
|
}
|
|
|
|
build.dependsOn generateVendorJson
|
|
|
|
task publishVendorJsonToLocalOutputs(type: Copy) {
|
|
from photonlibFileOutput
|
|
into "$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 copyVendorJsonToExamples {
|
|
outputs.upToDateWhen { false }
|
|
jar.finalizedBy it
|
|
}
|
|
|
|
[
|
|
"photonlib-cpp-examples",
|
|
"photonlib-java-examples"
|
|
].each { exampleFolder ->
|
|
file("${rootDir}/${exampleFolder}")
|
|
.listFiles()
|
|
.findAll {
|
|
return (it.isDirectory()
|
|
&& !it.isHidden()
|
|
&& !it.name.startsWith(".")
|
|
&& it.toPath().resolve("build.gradle").toFile().exists())
|
|
}
|
|
.collect { it.name }
|
|
.each { exampleVendordepFolder ->
|
|
task "copyVendorJsonTo${exampleFolder}-${exampleVendordepFolder}"(type: Copy) {
|
|
from photonlibFileOutput
|
|
|
|
into "${rootDir}/${exampleFolder}/${exampleVendordepFolder}/vendordeps/"
|
|
outputs.upToDateWhen { false }
|
|
copyVendorJsonToExamples.dependsOn it
|
|
}
|
|
}
|
|
}
|
|
|
|
clean {
|
|
[
|
|
"photonlib-cpp-examples",
|
|
"photonlib-java-examples"
|
|
].each { exampleFolder ->
|
|
file("${rootDir}/${exampleFolder}")
|
|
.listFiles()
|
|
.findAll {
|
|
return (it.isDirectory()
|
|
&& !it.isHidden()
|
|
&& !it.name.startsWith(".")
|
|
&& it.toPath().resolve("build.gradle").toFile().exists())
|
|
}
|
|
.collect { it.name }
|
|
.each { exampleVendordepFolder ->
|
|
delete "${rootDir}/${exampleFolder}/${exampleVendordepFolder}/vendordeps/"
|
|
}
|
|
}
|
|
}
|
|
|
|
task writeCurrentVersion {
|
|
doLast {
|
|
def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
|
|
writePhotonVersionFile(versionFileIn, Path.of("$buildDir", "generated", "java", "org", "photonvision", "PhotonVersion.java"),
|
|
versionString)
|
|
versionFileIn = file("${rootDir}/shared/PhotonVersion.cpp.in")
|
|
writePhotonVersionFile(versionFileIn, Path.of("$buildDir", "generated", "native", "cpp", "PhotonVersion.cpp"),
|
|
versionString)
|
|
}
|
|
}
|
|
|
|
// https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/build.gradle#L52
|
|
sourceSets.main.java.srcDir "${buildDir}/generated/java/"
|
|
compileJava.dependsOn writeCurrentVersion
|
|
|
|
// Building photon-lib requires photon-targeting to generate its proto files. This technically shouldn't be required but is needed for it to build.
|
|
model {
|
|
components {
|
|
all {
|
|
it.sources.each {
|
|
it.exportedHeaders {
|
|
srcDirs "src/main/native/include"
|
|
srcDirs "src/generate/native/include"
|
|
}
|
|
}
|
|
it.binaries.all {
|
|
it.tasks.withType(CppCompile) {
|
|
it.dependsOn writeCurrentVersion
|
|
it.dependsOn ":photon-targeting:generateProto"
|
|
}
|
|
}
|
|
}
|
|
}
|
|
testSuites {
|
|
all {
|
|
it.binaries.all {
|
|
it.tasks.withType(CppCompile) {
|
|
it.dependsOn ":photon-targeting:generateProto"
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
|
|
|
|
if (!project.hasProperty('copyOfflineArtifacts')) {
|
|
// Publish the vendordep json
|
|
publishing {
|
|
publications {
|
|
vendorjson(MavenPublication) {
|
|
artifact vendorJson
|
|
|
|
artifactId = "${nativeName}-json"
|
|
groupId = "org.photonvision"
|
|
version = "1.0"
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Add photonversion to cpp sources zip
|
|
tasks.named('cppSourcesZip') {
|
|
dependsOn writeCurrentVersion
|
|
|
|
from("$buildDir/generated/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')
|
|
|
|
destinationDirectory = file("$buildDir/outputs")
|
|
archiveBaseName = zipBaseNameCombined
|
|
archiveClassifier = "sources"
|
|
|
|
// Include the contents of the photon-lib cppSourcesZip. Magic chatgpt nonsense
|
|
from(zipTree(project(':photon-lib').tasks.cppSourcesZip.archiveFile.get().asFile)) {
|
|
into 'photon-lib'
|
|
}
|
|
from(zipTree(project(':photon-targeting').tasks.cppSourcesZip.archiveFile.get().asFile)) {
|
|
into 'photon-targeting'
|
|
}
|
|
|
|
duplicatesStrategy = DuplicatesStrategy.FAIL
|
|
}
|
|
task combinedHeadersZip(type: Zip) {
|
|
dependsOn(':photon-lib:cppHeadersZip', ':photon-targeting:cppHeadersZip')
|
|
|
|
destinationDirectory = file("$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 = wpilibVersion
|
|
|
|
def nativeConfigName = 'wpilibNatives'
|
|
def nativeConfig = configurations.create(nativeConfigName)
|
|
|
|
def nativeTasks = wpilibTools.createExtractionTasks {
|
|
configurationName = nativeConfigName
|
|
}
|
|
|
|
nativeTasks.addToSourceSetResources(sourceSets.test)
|
|
|
|
dependencies {
|
|
wpilibNatives project(":photon-targeting")
|
|
}
|
|
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("datalog")
|
|
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" + openCVYear, openCVversion)
|