Adds gradle task to fix NI libraries whenever new ones are added. (#325)

Generates genlinks, and modifies headers to make them self contained
2026-06-19 00:41:43 +00:00 · 2016-11-04 15:17:17 -07:00
parent 81212d80c6
commit 861726cefa
26 changed files with 155 additions and 44 deletions
--- a/build.gradle
+++ b/build.gradle
@@ -47,6 +47,8 @@ subprojects {

 apply from: 'cppSettings.gradle'

+apply from: 'ni-libraries/ni-libraries.gradle'
+
 task wrapper(type: Wrapper) {
    gradleVersion = '3.0'
 }
--- a/hal/build.gradle
+++ b/hal/build.gradle
@@ -24,11 +24,11 @@ model {
            sources {
                cpp {
                    source {
-                        srcDirs = ["lib/athena", niLibraryHeadersChipObject, niLibraryHeadersRoot, "lib/shared"]
+                        srcDirs = ["lib/athena", niLibraryHeadersRoot, "lib/shared"]
                        includes = ["**/*.cpp"]
                    }
                    exportedHeaders {
-                        srcDirs = ["include", niLibraryHeadersChipObject, niLibraryHeadersRoot, wpiUtilInclude]
+                        srcDirs = ["include", niLibraryHeadersRoot, wpiUtilInclude]
                    }
                }
            }
@@ -71,7 +71,7 @@ task halZip(type: Zip) {
                    def normalizedIt = it.toString().replace('/', '\\')
                    def normalizedWPIUtil = wpiUtilInclude.toString().replace('/', '\\')
                    // exclude the wpiUtil library, and any NI libraries (NI libraries grabbed later)
-                    if (normalizedIt != normalizedWPIUtil && !it.toString().contains('ni-libraries') ) {
+                    if (normalizedIt != normalizedWPIUtil) {
                        from(it) {
                            into 'include'
                            // We don't want to include any of the .cpp files that are in some of the header directories
@@ -89,17 +89,6 @@ task halZip(type: Zip) {
        }
    }

-    // Grab the NI headers excluding the ChipObject folder
-    from(project.file('../ni-libraries/include')) {
-        exclude 'FRC_FPGA_ChipObject/'
-        into 'include'
-    }
-
-    // Grab the ChipObject headers manually and put them in the right spot
-    from(project.file('../ni-libraries/include/FRC_FPGA_ChipObject')) {
-        into 'include'
-    }
-
    // Finally, include all of the shared library objects from the ni directory
    from(project.file('../ni-libraries/lib')) {
        into 'lib'
--- a/hal/include/HAL/ChipObject.h
+++ b/hal/include/HAL/ChipObject.h
@@ -10,12 +10,6 @@
 #pragma GCC diagnostic ignored "-Wpedantic"
 #pragma GCC diagnostic ignored "-Wignored-qualifiers"

-#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"  // NOLINT
-#include "FRC_FPGA_ChipObject/tDMAManager.h"            // NOLINT
-#include "FRC_FPGA_ChipObject/tInterruptManager.h"      // NOLINT
-#include "FRC_FPGA_ChipObject/tSystem.h"                // NOLINT
-#include "FRC_FPGA_ChipObject/tSystemInterface.h"       // NOLINT
-
 #include <stdint.h>

 #include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
@@ -38,6 +32,11 @@
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h"
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h"
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h"
+#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"
+#include "FRC_FPGA_ChipObject/tDMAManager.h"
+#include "FRC_FPGA_ChipObject/tInterruptManager.h"
+#include "FRC_FPGA_ChipObject/tSystem.h"
+#include "FRC_FPGA_ChipObject/tSystemInterface.h"

 namespace hal {
 using namespace nFPGA;
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_AI_h__
 #define __nFRC_2017_17_0_2_AI_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_AO_h__
 #define __nFRC_2017_17_0_2_AO_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Accel_h__
 #define __nFRC_2017_17_0_2_Accel_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Accumulator_h__
 #define __nFRC_2017_17_0_2_Accumulator_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Alarm_h__
 #define __nFRC_2017_17_0_2_Alarm_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_AnalogTrigger_h__
 #define __nFRC_2017_17_0_2_AnalogTrigger_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_BIST_h__
 #define __nFRC_2017_17_0_2_BIST_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Counter_h__
 #define __nFRC_2017_17_0_2_Counter_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_DIO_h__
 #define __nFRC_2017_17_0_2_DIO_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_DMA_h__
 #define __nFRC_2017_17_0_2_DMA_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Encoder_h__
 #define __nFRC_2017_17_0_2_Encoder_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Global_h__
 #define __nFRC_2017_17_0_2_Global_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Interrupt_h__
 #define __nFRC_2017_17_0_2_Interrupt_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_PWM_h__
 #define __nFRC_2017_17_0_2_PWM_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Power_h__
 #define __nFRC_2017_17_0_2_Power_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_Relay_h__
 #define __nFRC_2017_17_0_2_Relay_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_SPI_h__
 #define __nFRC_2017_17_0_2_SPI_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
+++ b/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h
@@ -4,7 +4,8 @@
 #ifndef __nFRC_2017_17_0_2_SysWatchdog_h__
 #define __nFRC_2017_17_0_2_SysWatchdog_h__

-#include "tSystemInterface.h"
+#include "../tSystem.h"
+#include "../tSystemInterface.h"

 namespace nFPGA
 {
--- a/ni-libraries/include/FRC_NetworkCommunication/FRCComm.h
+++ b/ni-libraries/include/FRC_NetworkCommunication/FRCComm.h
@@ -14,8 +14,8 @@
 #ifndef __FRC_COMM_H__
 #define __FRC_COMM_H__

-#ifdef WIN32
-# include <vxWorks_compat.h>
+#ifdef _WIN32
+# include <windows.h>
 #ifdef USE_THRIFT
 #  define EXPORT_FUNC
 # else
@@ -33,7 +33,7 @@
 #define ERR_FRCSystem_NetCommNotResponding -44049
 #define ERR_FRCSystem_NoDSConnection -44018

-#ifdef WIN32
+#ifdef _WIN32
 # define __DEPRECATED__ __declspec(deprecated)
 #else
 # define __DEPRECATED__ __attribute__((__deprecated__))
@@ -129,7 +129,7 @@ extern "C" {
 	int EXPORT_FUNC FRC_NetworkCommunication_sendError(int isError, int32_t errorCode, int isLVCode,
 		const char *details, const char *location, const char *callStack);

-#ifdef WIN32
+#ifdef _WIN32
 	void EXPORT_FUNC setNewDataSem(HANDLE);
 #elif defined (__vxworks)
 	void EXPORT_FUNC setNewDataSem(SEM_ID);
--- a/ni-libraries/include/FRC_NetworkCommunication/LoadOut.h
+++ b/ni-libraries/include/FRC_NetworkCommunication/LoadOut.h
@@ -2,7 +2,7 @@
 #ifndef __LoadOut_h__
 #define __LoadOut_h__

-#ifdef WIN32
+#ifdef _WIN32
 #include <vxWorks_compat.h>
 #define EXPORT_FUNC __declspec(dllexport) __cdecl
 #elif defined (__vxworks)
--- a/ni-libraries/include/FRC_NetworkCommunication/UsageReporting.h
+++ b/ni-libraries/include/FRC_NetworkCommunication/UsageReporting.h
@@ -2,7 +2,7 @@
 #ifndef __UsageReporting_h__
 #define __UsageReporting_h__

-#ifdef WIN32
+#ifdef _WIN32
 #include <stdint.h>
 #define EXPORT_FUNC __declspec(dllexport) __cdecl
 #elif defined (__vxworks)
--- a/ni-libraries/lib/genlinks.bat
+++ b/ni-libraries/lib/genlinks.bat
@@ -0,0 +1,24 @@
+@echo off
+setlocal enabledelayedexpansion
+
+mkdir tmp
+
+for %%F in (lib*.so.*) do IF /i "%%~xF" NEQ ".so" (
+	set libout=%%~nF
+	del !libout!
+	echo OUTPUT_FORMAT^(elf32-littlearm^)> tmp\!libout!
+	echo GROUP ^( %%F ^)>> tmp\!libout!
+)
+
+REM Do a second round from the temp folder
+
+cd tmp
+
+for %%F in (lib*.so.*) do IF /i "%%~xF" NEQ ".so" (
+	set libout=%%~nF
+	del !libout!
+	echo OUTPUT_FORMAT^(elf32-littlearm^)> !libout!
+	echo GROUP ^( %%F ^)>> !libout!
+)
+
+cd ..
--- a/ni-libraries/ni-libraries.gradle
+++ b/ni-libraries/ni-libraries.gradle
@@ -0,0 +1,79 @@
+import org.gradle.internal.os.OperatingSystem
+import org.apache.tools.ant.filters.*;
+
+task patchNiLibraries() {
+    doLast {
+        // Patch ChipObject headers to be self contained
+        FileTree chipTree = fileTree(dir: "$rootDir/ni-libraries/include/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace")
+        chipTree.each {File file ->
+            String contents = file.getText( 'UTF-8' ) 
+            contents = contents.replaceAll( '#include \"tSystemInterface.h\"', '#include \"../tSystem.h\"\r\n#include \"../tSystemInterface.h\"' )
+            file.write( contents, 'UTF-8' )
+        }
+
+        // Patch NetComm headers to work on Windows
+        FileTree netTree = fileTree(dir: "$rootDir/ni-libraries/include/FRC_NetworkCommunication")
+        netTree.each {File file ->
+            String contents = file.getText( 'UTF-8' ) 
+            contents = contents.replaceAll( '#ifdef WIN32', '#ifdef _WIN32' )
+            contents = contents.replaceAll( '# include <vxWorks_compat.h>', '# include <windows.h>' )
+            file.write( contents, 'UTF-8' )
+        }
+
+
+
+        // Generate genlinks
+        exec { 
+            workingDir "$rootDir/ni-libraries/lib"
+            if (OperatingSystem.current().isWindows()) {
+                commandLine "$rootDir/ni-libraries/lib/genlinks.bat"
+            } else {
+                executable "genlinks"
+            }
+        }
+        exec { 
+            workingDir "$rootDir/ni-libraries/lib"
+            if (OperatingSystem.current().isWindows()) {
+                commandLine "$rootDir/ni-libraries/lib/genlinks.bat"
+            } else {
+                executable "genlinks"
+            }
+        }
+        exec { 
+            workingDir "$rootDir/ni-libraries/lib"
+            if (OperatingSystem.current().isWindows()) {
+                commandLine "$rootDir/ni-libraries/lib/genlinks.bat"
+            } else {
+                executable "genlinks"
+            }
+        }
+        exec { 
+            workingDir "$rootDir/ni-libraries/lib"
+            if (OperatingSystem.current().isWindows()) {
+                commandLine "$rootDir/ni-libraries/lib/genlinks.bat"
+            } else {
+                executable "genlinks"
+            }
+        }
+        exec { 
+            workingDir "$rootDir/ni-libraries/lib"
+            if (OperatingSystem.current().isWindows()) {
+                commandLine "$rootDir/ni-libraries/lib/genlinks.bat"
+            } else {
+                executable "genlinks"
+            }
+        }
+        if (OperatingSystem.current().isWindows()) {
+            copy {
+                from "$rootDir/ni-libraries/lib/tmp"
+                into "$rootDir/ni-libraries/lib"
+                filter(FixCrLfFilter.class,
+                        eol:FixCrLfFilter.CrLf.newInstance("lf"))
+            }
+            delete {
+                delete "$rootDir/ni-libraries/lib/tmp"
+            }
+        }
+
+    }
+}