[bazel] Implement cscore shared libraries (#8089)

Use all our fancy new linking code to link cscore properly. nm reports that the symbols look quite good. Signed-off-by: Austin Schuh <austin.linux@gmail.com> Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com> Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
2026-06-19 00:41:43 +00:00 · 2025-07-31 21:04:22 -07:00
parent 79f6351073
commit 12223ff188
18 changed files with 204 additions and 42 deletions
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -25,7 +25,7 @@ compile_pip_requirements(
 alias(
    name = "quickbuf_protoc",
    actual = select({
-        "@bazel_tools//src/conditions:windows": "@quickbuffer_protoc_windows//file",
+        "@platforms//os:windows": "@quickbuffer_protoc_windows//file",
        "@rules_bzlmodrio_toolchains//conditions:osx_aarch64": "@quickbuffer_protoc_osx_aarch64//file",
        "@rules_bzlmodrio_toolchains//conditions:osx_x86_64": "@quickbuffer_protoc_osx_x86-64//file",
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": "@quickbuffer_protoc_linux//file",
--- a/apriltag/BUILD.bazel
+++ b/apriltag/BUILD.bazel
@@ -19,14 +19,14 @@ cc_library(
    srcs = glob(["src/main/native/thirdparty/apriltag/src/**"]),
    hdrs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
    copts = select({
-        "@bazel_tools//src/conditions:darwin": [
+        "@platforms//os:osx": [
            "-Wno-format-nonliteral",
            "-Wno-gnu-zero-variadic-macro-arguments",
            "-Wno-uninitialized",
            "-Wno-sign-compare",
            "-Wno-type-limits",
        ],
-        "@bazel_tools//src/conditions:windows": [
+        "@platforms//os:windows": [
            "/wd4005",
            "/wd4018",
            "/wd4244",
--- a/cameraserver/BUILD.bazel
+++ b/cameraserver/BUILD.bazel
@@ -1,6 +1,7 @@
+load("@bzlmodrio-opencv//libraries/cpp/opencv:libraries.bzl", "opencv_shared_libraries")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_library")
 load("//shared/bazel/rules:packaging.bzl", "package_minimal_cc_project")

@@ -20,6 +21,17 @@ wpilib_cc_library(
    ],
 )

+wpilib_cc_shared_library(
+    name = "shared/cameraserver",
+    dynamic_deps = [
+        "//cscore:shared/cscore",
+        "//ntcore:shared/ntcore",
+        "//wpiutil:shared/wpiutil",
+    ] + opencv_shared_libraries,
+    visibility = ["//visibility:public"],
+    deps = [":cameraserver"],
+)
+
 wpilib_cc_static_library(
    name = "static/cameraserver",
    static_deps = [
--- a/cscore/BUILD.bazel
+++ b/cscore/BUILD.bazel
@@ -1,6 +1,8 @@
+load("@bzlmodrio-opencv//libraries/cpp/opencv:libraries.bzl", "opencv_shared_libraries")
+load("@rules_cc//cc:cc_shared_library.bzl", "cc_shared_library")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 load("//shared/bazel/rules:objectivec_rules.bzl", "wpilib_objc_library")
@@ -21,8 +23,8 @@ MAC_SRCS = glob(["src/main/native/osx/**/*.cpp"])
 filegroup(
    name = "native-srcs",
    srcs = select({
-        "@bazel_tools//src/conditions:darwin": MAC_SRCS,
-        "@bazel_tools//src/conditions:windows": WIN_SRCS,
+        "@platforms//os:osx": MAC_SRCS,
+        "@platforms//os:windows": WIN_SRCS,
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_SRCS,
    }),
 )
@@ -79,11 +81,56 @@ wpilib_cc_library(
        "//wpiutil",
        "@bzlmodrio-opencv//libraries/cpp/opencv",
    ] + select({
-        "@bazel_tools//src/conditions:darwin": [":cscore-mac"],
+        "@platforms//os:osx": [":cscore-mac"],
        "//conditions:default": [],
    }),
 )

+sdk_framework_flags = [
+    "-framework",
+    "Metal",
+    "-framework",
+    "MetalKit",
+    "-framework",
+    "Cocoa",
+    "-framework",
+    "IOKit",
+    "-framework",
+    "CoreFoundation",
+    "-framework",
+    "AVFoundation",
+    "-framework",
+    "Foundation",
+    "-framework",
+    "CoreMedia",
+    "-framework",
+    "CoreVideo",
+    "-framework",
+    "QuartzCore",
+]
+
+wpilib_cc_shared_library(
+    name = "shared/cscore",
+    additional_linker_inputs = select({
+        "@platforms//os:osx": [":cscore-mac"],
+        "//conditions:default": [],
+    }),
+    dynamic_deps = [
+        "//wpinet:shared/wpinet",
+        "//wpiutil:shared/wpiutil",
+    ] + opencv_shared_libraries,
+    user_link_flags = select({
+        "@platforms//os:osx": [
+            "-Wl,-force_load,$(location :cscore-mac)",
+        ] + sdk_framework_flags,
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":cscore",
+    ],
+)
+
 wpilib_cc_static_library(
    name = "static/cscore",
    static_deps = [
@@ -104,6 +151,53 @@ wpilib_jni_cc_library(
    ],
 )

+wpilib_cc_shared_library(
+    name = "shared/cscorejni",
+    dynamic_deps = [
+        ":shared/cscore",
+        "//wpiutil:shared/wpiutil",
+    ],
+    use_debug_name = False,
+    visibility = ["//visibility:public"],
+    deps = [":cscorejni"],
+)
+
+cc_shared_library(
+    name = "shared/cscorejnicvstatic",
+    additional_linker_inputs = select({
+        "@platforms//os:osx": [":cscore-mac"],
+        "//conditions:default": [],
+    }) + [
+        ":src/main/native/LinuxSymbolScript.txt",
+        ":src/main/native/MacSymbolScript.txt",
+    ],
+    dynamic_deps = [
+        "//wpinet:shared/wpinet",
+        "//wpiutil:shared/wpiutil",
+    ] + opencv_shared_libraries,
+    user_link_flags = select({
+        "@platforms//os:osx": [
+            "-Wl,-install_name,libcscorejnicvstatic.so",
+            "-exported_symbols_list",
+            "$(location :src/main/native/MacSymbolScript.txt)",
+        ],
+        "//conditions:default": [
+            "-Wl,-soname,libcscorejnicvstatic.so",
+            "-Wl,--version-script=$(location :src/main/native/LinuxSymbolScript.txt)",
+        ],
+    }) + select({
+        "@platforms//os:osx": [
+            "-Wl,-force_load,$(location :cscore-mac)",
+        ] + sdk_framework_flags,
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":cscore",
+        ":cscorejni",
+    ],
+)
+
 wpilib_jni_java_library(
    name = "cscore-java",
    srcs = glob(["src/main/java/**/*.java"]),
@@ -165,6 +259,7 @@ java_binary(
    deps = [
        "//cscore",
        "//wpigui",
+        "@bzlmodrio-opencv//libraries/cpp/opencv",
    ],
 ) for example in [
    "enum_usb",
--- a/datalogtool/BUILD.bazel
+++ b/datalogtool/BUILD.bazel
@@ -23,12 +23,11 @@ cc_binary(
    ],
    defines = ["LIBSSH_STATIC"],
    linkopts = select({
-        "@bazel_tools//src/conditions:darwin": [
+        "@platforms//os:osx": [
            "-framework",
            "Kerberos",
        ],
-        "@bazel_tools//src/conditions:linux_x86_64": [],
-        "@bazel_tools//src/conditions:windows": [
+        "@platforms//os:windows": [
            "-DEFAULTLIB:Gdi32.lib",
            "-DEFAULTLIB:Shell32.lib",
            "-DEFAULTLIB:d3d11.lib",
@@ -39,6 +38,7 @@ cc_binary(
            "-DEFAULTLIB:user32.lib",
            "-SUBSYSTEM:WINDOWS",
        ],
+        "@rules_bzlmodrio_toolchains//conditions:linux_x86_64": [],
        "@rules_bzlmodrio_toolchains//constraints/combined:is_cross_compiler": [],
    }),
    tags = [
--- a/fieldImages/BUILD.bazel
+++ b/fieldImages/BUILD.bazel
@@ -23,7 +23,7 @@ wpilib_cc_library(
 wpilib_cc_static_library(
    name = "static/fieldImages",
    static_lib_name = select({
-        "@bazel_tools//src/conditions:windows": "static/fieldImages.lib",
+        "@platforms//os:windows": "static/fieldImages.lib",
        "//conditions:default": "static/libfieldImages.a",
    }),
    visibility = ["//visibility:public"],
--- a/glass/BUILD.bazel
+++ b/glass/BUILD.bazel
@@ -88,7 +88,7 @@ cc_binary(
        ":generate-version",
    ] + glob(["src/app/native/cpp/**"]),
    linkopts = select({
-        "@bazel_tools//src/conditions:windows": ["-SUBSYSTEM:WINDOWS"],
+        "@platforms//os:windows": ["-SUBSYSTEM:WINDOWS"],
        "//conditions:default": [],
    }),
    tags = [
--- a/outlineviewer/BUILD.bazel
+++ b/outlineviewer/BUILD.bazel
@@ -22,7 +22,7 @@ cc_binary(
        ":generate-version",
    ],
    linkopts = select({
-        "@bazel_tools//src/conditions:windows": ["-SUBSYSTEM:WINDOWS"],
+        "@platforms//os:windows": ["-SUBSYSTEM:WINDOWS"],
        "//conditions:default": [],
    }),
    tags = [
--- a/shared/bazel/rules/cc_rules.bzl
+++ b/shared/bazel/rules/cc_rules.bzl
@@ -617,7 +617,7 @@ def wpilib_cc_static_library(
        static_lib_name = select({
            "//shared/bazel/rules:compilation_mode_dbg": folder + "/lib" + lib + "d.a",
            "//shared/bazel/rules:compilation_mode_windows_dbg": folder + "/" + lib + ".lib",
-            "@bazel_tools//src/conditions:windows": folder + "/" + lib + ".lib",
+            "@platforms//os:windows": folder + "/" + lib + ".lib",
            "//conditions:default": folder + "/lib" + lib + ".a",
        })

--- a/simulation/halsim_gui/BUILD.bazel
+++ b/simulation/halsim_gui/BUILD.bazel
@@ -1,5 +1,5 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:packaging.bzl", "package_minimal_cc_project")

 wpilib_cc_library(
@@ -57,6 +57,50 @@ wpilib_cc_library(
    ],
 )

+wpilib_cc_shared_library(
+    name = "shared/halsim_gui",
+    additional_linker_inputs = select({
+        "@platforms//os:osx": [
+            "//thirdparty/imgui_suite:glfw_src_darwin",
+            "//thirdparty/imgui_suite:imgui_src_darwin",
+            "//wpigui:wpigui-mac",
+        ],
+        "//conditions:default": [],
+    }),
+    dynamic_deps = [
+        "//hal:shared/wpiHal",
+        "//wpimath:shared/wpimath",
+        "//datalog:shared/datalog",
+        "//ntcore:shared/ntcore",
+    ],
+    user_link_flags = select({
+        "@platforms//os:osx": [
+            "-Wl,-force_load,$(location //thirdparty/imgui_suite:glfw_src_darwin)",
+            "-Wl,-force_load,$(location //thirdparty/imgui_suite:imgui_src_darwin)",
+            "-Wl,-force_load,$(location //wpigui:wpigui-mac)",
+            "-framework",
+            "Metal",
+            "-framework",
+            "MetalKit",
+            "-framework",
+            "Cocoa",
+            "-framework",
+            "IOKit",
+            "-framework",
+            "CoreFoundation",
+            "-framework",
+            "CoreVideo",
+            "-framework",
+            "QuartzCore",
+        ],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":halsim_gui",
+    ],
+)
+
 wpilib_cc_static_library(
    name = "static/halsim_gui",
    static_deps = [
--- a/sysid/BUILD.bazel
+++ b/sysid/BUILD.bazel
@@ -37,7 +37,7 @@ cc_binary(
    name = "sysid",
    srcs = ["src/main/native/cpp/Main.cpp"],
    linkopts = select({
-        "@bazel_tools//src/conditions:windows": ["-SUBSYSTEM:WINDOWS"],
+        "@platforms//os:windows": ["-SUBSYSTEM:WINDOWS"],
        "//conditions:default": [],
    }),
    deps = ["sysid-lib"],
--- a/thirdparty/googletest/BUILD.bazel
+++ b/thirdparty/googletest/BUILD.bazel
@@ -16,7 +16,7 @@ wpilib_cc_library(
 wpilib_cc_static_library(
    name = "static/googletest",
    static_lib_name = select({
-        "@bazel_tools//src/conditions:windows": "static/googletest.lib",
+        "@platforms//os:windows": "static/googletest.lib",
        "//conditions:default": "static/libgoogletest.a",
    }),
    visibility = ["//visibility:public"],
--- a/thirdparty/imgui_suite/BUILD.bazel
+++ b/thirdparty/imgui_suite/BUILD.bazel
@@ -165,15 +165,19 @@ cc_library(
 cc_library(
    name = "glfw_src",
    srcs = select({
-        "@bazel_tools//src/conditions:windows": WINDOWS_SOURCES,
+        "@platforms//os:windows": WINDOWS_SOURCES,
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_SOURCES,
    }),
    defines = select({
-        "@bazel_tools//src/conditions:windows": WINDOWS_DEFINES,
+        "@platforms//os:windows": WINDOWS_DEFINES,
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_DEFINES,
    }),
+    linkopts = select({
+        "@platforms//os:windows": WINDOWS_LINKOPTS,
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_LINKOPTS,
+    }),
    target_compatible_with = select({
-        "@bazel_tools//src/conditions:windows": [],
+        "@platforms//os:windows": [],
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [],
        "//conditions:default": ["@platforms//:incompatible"],
    }),
@@ -194,6 +198,7 @@ wpilib_objc_library(
    defines = DARWIN_DEFINES + ["GLFW_INVALID_CODEPOINT"],
    include_arc = False,
    is_cpp = False,
+    visibility = ["//visibility:public"],
    deps = [
        ":glfw_hdrs",
    ],
@@ -202,8 +207,8 @@ wpilib_objc_library(
 cc_library(
    name = "glfw",
    linkopts = select({
-        "@bazel_tools//src/conditions:darwin": DARWIN_LINKOPTS,
-        "@bazel_tools//src/conditions:windows": WINDOWS_LINKOPTS,
+        "@platforms//os:osx": DARWIN_LINKOPTS,
+        "@platforms//os:windows": WINDOWS_LINKOPTS,
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_LINKOPTS,
    }),
    linkstatic = True,
@@ -212,8 +217,8 @@ cc_library(
        "//conditions:default": [],
    }),
    deps = [":glfw_hdrs"] + select({
-        "@bazel_tools//src/conditions:darwin": [":glfw_src_darwin"],
-        "@bazel_tools//src/conditions:windows": [":glfw_src"],
+        "@platforms//os:osx": [":glfw_src_darwin"],
+        "@platforms//os:windows": [":glfw_src"],
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [":glfw_src"],
    }),
 )
@@ -274,11 +279,11 @@ IMGUI_WIN_HDRS = [
 cc_library(
    name = "imgui_src",
    srcs = IMGUI_COMMON_SOURCES + select({
-        "@bazel_tools//src/conditions:windows": IMGUI_WIN_SRCS,
+        "@platforms//os:windows": IMGUI_WIN_SRCS,
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": IMGUI_LINUX_SRCS,
    }),
    hdrs = IMGUI_COMMON_HEADERS + select({
-        "@bazel_tools//src/conditions:windows": IMGUI_WIN_HDRS,
+        "@platforms//os:windows": IMGUI_WIN_HDRS,
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": IMGUI_LINUX_HDRS,
    }),
    includes = [
@@ -289,7 +294,7 @@ cc_library(
    linkstatic = True,
    strip_include_prefix = "imgui/include",
    target_compatible_with = select({
-        "@bazel_tools//src/conditions:windows": [],
+        "@platforms//os:windows": [],
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [],
        "//conditions:default": ["@platforms//:incompatible"],
    }),
@@ -308,6 +313,7 @@ wpilib_objc_library(
        "imgui/include/backends",
        "imgui/include/misc/cpp",
    ],
+    visibility = ["//visibility:public"],
    deps = [
        ":glfw",
    ],
@@ -316,8 +322,8 @@ wpilib_objc_library(
 cc_library(
    name = "imgui",
    deps = select({
-        "@bazel_tools//src/conditions:darwin": [":imgui_src_darwin"],
-        "@bazel_tools//src/conditions:windows": [":imgui_src"],
+        "@platforms//os:osx": [":imgui_src_darwin"],
+        "@platforms//os:windows": [":imgui_src"],
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [":imgui_src"],
    }),
 )
--- a/wpigui/BUILD.bazel
+++ b/wpigui/BUILD.bazel
@@ -28,6 +28,7 @@ wpilib_objc_library(
        "CoreVideo",
        "QuartzCore",
    ],
+    visibility = ["//visibility:public"],
    deps = [
        ":headers",
        "//thirdparty/imgui_suite",
@@ -47,8 +48,8 @@ wpilib_cc_library(
    name = "wpigui",
    srcs = glob(["src/main/native/cpp/**/*.cpp"]) +
           select({
-               "@bazel_tools//src/conditions:darwin": [],
-               "@bazel_tools//src/conditions:windows": WIN_SRCS,
+               "@platforms//os:osx": [],
+               "@platforms//os:windows": WIN_SRCS,
               "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_SRCS,
           }),
    extra_src_pkg_files = [":native-pkg"],
@@ -62,7 +63,7 @@ wpilib_cc_library(
        ":headers",
        "//thirdparty/imgui_suite",
    ] + select({
-        "@bazel_tools//src/conditions:darwin": [":wpigui-mac"],
+        "@platforms//os:osx": [":wpigui-mac"],
        "//conditions:default": [],
    }),
 )
@@ -73,7 +74,7 @@ wpilib_cc_static_library(
        "//thirdparty/imgui_suite:static/imguiSuite",
    ],
    static_lib_name = select({
-        "@bazel_tools//src/conditions:windows": "static/wpigui.lib",
+        "@platforms//os:windows": "static/wpigui.lib",
        "//conditions:default": "static/libwpigui.a",
    }),
    visibility = ["//visibility:public"],
--- a/wpilibc/BUILD.bazel
+++ b/wpilibc/BUILD.bazel
@@ -96,7 +96,10 @@ wpilib_cc_library(
    copts = [
        # TODO(austin): this needs to be different for shared vs dynamic.
        "-DDYNAMIC_CAMERA_SERVER",
-    ],
+    ] + select({
+        "//shared/bazel/rules:compilation_mode_dbg": ["-DDYNAMIC_CAMERA_SERVER_DEBUG"],
+        "//conditions:default": [],
+    }),
    extra_src_pkg_files = [
        ":generated_version_files_pkg",
    ],
--- a/wpinet/BUILD.bazel
+++ b/wpinet/BUILD.bazel
@@ -67,8 +67,8 @@ filegroup(
               "//conditions:default": [],
           }) +
           select({
-               "@bazel_tools//src/conditions:darwin": MAC_UV_SRCS,
-               "@bazel_tools//src/conditions:windows": WIN_UV_SRCS,
+               "@platforms//os:osx": MAC_UV_SRCS,
+               "@platforms//os:windows": WIN_UV_SRCS,
               "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_UV_SRCS,
           }) + glob(["src/main/native/thirdparty/libuv/src/*"]),
    visibility = ["//wpinet:__subpackages__"],
@@ -102,8 +102,8 @@ generate_resources(
 filegroup(
    name = "native-srcs",
    srcs = ["generate-resources"] + select({
-        "@bazel_tools//src/conditions:darwin": glob(["src/main/native/macOS/*"]),
-        "@bazel_tools//src/conditions:windows": glob(["src/main/native/windows/*"]),
+        "@platforms//os:osx": glob(["src/main/native/macOS/*"]),
+        "@platforms//os:windows": glob(["src/main/native/windows/*"]),
        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": glob(["src/main/native/linux/*"]),
    }),
 )
@@ -131,7 +131,7 @@ wpilib_cc_library(
    ],
    includes = ["src/main/native/include"],
    linkopts = select({
-        "@bazel_tools//src/conditions:linux": [
+        "@platforms//os:linux": [
            "-Wl,--push-state,-as-needed",
            "-ldl",
            "-Wl,--pop-state",
--- a/wpiutil/BUILD.bazel
+++ b/wpiutil/BUILD.bazel
@@ -124,7 +124,7 @@ generate_resources(
 filegroup(
    name = "native-srcs",
    srcs = select({
-        "@bazel_tools//src/conditions:windows": glob(["src/main/native/windows/*.cpp"]),
+        "@platforms//os:windows": glob(["src/main/native/windows/*.cpp"]),
        "@rules_bzlmodrio_toolchains//constraints/combined:is_unix": glob(["src/main/native/unix/*.cpp"]),
    }),
 )
--- a/xrpVendordep/BUILD.bazel
+++ b/xrpVendordep/BUILD.bazel
@@ -22,11 +22,12 @@ wpilib_cc_library(
 wpilib_cc_shared_library(
    name = "shared/xrpVendordep",
    dynamic_deps = [
-        "//hal:shared/wpiHal",
        "//ntcore:shared/ntcore",
        "//wpilibc:shared/wpilibc",
        "//wpinet:shared/wpinet",
        "//wpiutil:shared/wpiutil",
+        "//wpimath:shared/wpimath",
+        "//hal:shared/wpiHal",
    ],
    visibility = ["//visibility:public"],
    deps = [":xrpVendordep"],