PhotonVision/photon-server/build.gradle

plugins {
    id 'java'
    id 'application'
    id 'com.github.johnrengelman.shadow' version '5.2.0'
    id "com.diffplug.gradle.spotless" version "3.28.0"
    id 'org.hidetake.ssh' version '2.10.1'
    id "jacoco"
}

apply from: 'versioningHelper.gradle'

mainClassName = 'org.photonvision.Main'

group 'org.photonvision'
version versionString

sourceCompatibility = 11

repositories {
    jcenter()
    mavenCentral()
    maven {
        url = "https://maven.photonvision.org/repository/internal/"
    }
    maven {
        url = 'https://frcmaven.wpi.edu:443/artifactory/development'
    }
}

ext {
    wpilibVersion = '2020.3.2-99-g9f4de91'
    joglVersion = '2.4.0-rc-20200307'
    openCVVersion = '3.4.7-2'
}

dependencies {
    implementation "io.javalin:javalin:3.7.0"

    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 "org.msgpack:msgpack-core:0.8.20"
    implementation "org.msgpack:jackson-dataformat-msgpack:0.8.20"

    implementation group: 'org.apache.commons', name: 'commons-lang3', version: '3.9'
    implementation "org.apache.commons:commons-math3:3.6.1"
    implementation group: 'commons-io', name: 'commons-io', version: '2.6'
    implementation group: 'commons-cli', name: 'commons-cli', version: '1.4'
    implementation "org.apache.commons:commons-collections4:4.4"
    implementation "org.apache.commons:commons-exec:1.3"

    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
    implementation "org.jogamp.jogl:jogl-all:$joglVersion"

//    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-amd64"
//    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-armv6hf"
    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
//    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-macosx-universal"
//    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-windows-amd64"

//    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-amd64"
//    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-armv6hf"
    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
//    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-macosx-universal"
//    implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-windows-amd64"

    // WPILib stuff
    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"

    implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:linuxaarch64bionic"
    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:linuxraspbian"
    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:linuxx86-64"
    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:osxx86-64"
    compile "edu.wpi.first.cscore:cscore-jni:$wpilibVersion:windowsx86-64"

    implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxaarch64bionic"
    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxraspbian"
    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxx86-64"
    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:osxx86-64"
    compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:windowsx86-64"

    implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:$openCVVersion"
    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxaarch64bionic"
    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxraspbian"
    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:linuxx86-64"
    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:osxx86-64"
    compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:$openCVVersion:windowsx86-64"

    compile "org.slf4j:slf4j-simple:1.8.0-beta4"

    // Zip
    compile "org.zeroturnaround:zt-zip:1.14"

    // test stuff
    testImplementation('org.junit.jupiter:junit-jupiter:5.6.0')
}

shadowJar {
    configurations = [project.configurations.runtimeClasspath]

    archiveFileName.set("photonvision-${project.version}.jar")
}

test {
    useJUnitPlatform()
    testLogging {
        events "passed", "skipped", "failed", "standardOut", "standardError"
    }
}

task testHeadless(type: Test) {
    group = 'verification'
    systemProperty("java.awt.headless", "true")
    useJUnitPlatform()
}

task runNpmOnClient(type: Exec) {
    workingDir "${projectDir}/../photon-client"
    if (System.getProperty('os.name').toLowerCase(Locale.ROOT).contains('windows')) {
        commandLine 'cmd', '/c', 'npm run build'
    } else {
        commandLine 'npm', 'run', 'build'
    }
}

task copyClientUIToResources(type: Copy) {
    from "${projectDir}/../photon-client/dist/"
    into "${projectDir}/src/main/resources/web/"
}

task buildAndCopyUI {}

buildAndCopyUI.dependsOn copyClientUIToResources
copyClientUIToResources.dependsOn runNpmOnClient
copyClientUIToResources.shouldRunAfter runNpmOnClient

task generateJavaDocs(type: Javadoc) {
    source = sourceSets.main.allJava
    classpath = sourceSets.main.compileClasspath
    destinationDir = file("${projectDir}/build/docs")
}

spotless {
    java {
        googleJavaFormat()
        paddedCell()
        indentWithTabs(2)
        indentWithSpaces(4)
        removeUnusedImports()
    }
    java {
        target "src/*/java/org/**/*.java"
        licenseHeaderFile "$rootDir/LicenseHeader.txt"

        targetExclude("src/main/java/org/photonvision/PhotonVersion.java")
    }
}

run {
    if (project.hasProperty("profile")) {
        jvmArgs=[
                "-Dcom.sun.management.jmxremote=true",
                "-Dcom.sun.management.jmxremote.ssl=false",
                "-Dcom.sun.management.jmxremote.authenticate=false",
                "-Dcom.sun.management.jmxremote.port=5000",
                "-Djava.rmi.server.hostname=0.0.0.0",
        ]
    }
}

jacocoTestReport {
    dependsOn test // Tests are required to run before generating the report
    
    reports {
        xml.enabled true
    }

    afterEvaluate {
        classDirectories.setFrom(files(classDirectories.files.collect {
            fileTree(dir: it,
                    exclude: 'edu/wpi/**'
            )
        }))
    }
}


remotes {
    pi {
        host = 'photonvision.local'
        user = 'pi'
        password = 'raspberry'
        knownHosts = allowAnyHosts
    }
    gloworm {
        host = 'gloworm.local'
        user = 'pi'
        password = 'raspberry'
        knownHosts = allowAnyHosts
    }
}

import java.io.*; 
import java.net.*; 

task findDeployTarget {
    doLast {
        if(project.hasProperty('tgtIP')){
            //If user specificed IP, default to using the PI profile
            // but adjust hostname to match the provided IP address
            findDeployTarget.ext.rmt = remotes.pi
            findDeployTarget.ext.rmt.host=tgtIP
        } else {
            findDeployTarget.ext.rmt = null
            for(testRmt in remotes){
                println "Checking for " + testRmt.host
                boolean canContact = false;
                try {
                    InetAddress testAddr = InetAddress.getByName(testRmt.host)
                    canContact = testAddr.isReachable(5000)
                } catch(UnknownHostException e) {
                    canContact = false;
                }
                if(canContact){
                    println "Found!"
                    findDeployTarget.ext.rmt = testRmt
                    break
                } else {
                    println "Not Found."
                }
            }
            if(findDeployTarget.ext.rmt == null ){
                throw new GradleException("Could not find a supported target for deployment!")
            }
        }
    }
}


task deploy {
    dependsOn assemble
    dependsOn findDeployTarget
    doLast {
        println 'Starting deployment to ' + findDeployTarget.rmt.host
        ssh.run{
            session(findDeployTarget.rmt) {
                //Stop photonvision before manipulating its files
                execute 'sudo systemctl stop photonvision.service'
                // gerth2 - I was having issues with the .jar being in use still - waiting a tiny bit here seems to get rid of it on a pi4
                execute 'sleep 3'
                // Copy into a folder owned by PI. Mostly because, as far as I can tell, the put command doesn't support sudo.
                put from: "${projectDir}/build/libs/photonvision-${project.version}.jar", into: "/tmp/photonvision.jar"
                 //belt-and-suspenders. Make sure the old jar is gone first.
                execute 'sudo rm -f /opt/photonvision/photonvision.jar'
                //Copy in the new .jar and make sure it's executable
                execute 'sudo mv /tmp/photonvision.jar /opt/photonvision/photonvision.jar'
                execute 'sudo chmod +x /opt/photonvision/photonvision.jar'
                //Fire up photonvision again
                execute 'sudo systemctl start photonvision.service'
                //Cleanup
                execute 'sudo rm -f /tmp/photonvision.jar'
            }
        }
    }
}