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Adds cscore and opencv to wpilib (#332)

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Unit tests now run using shared wpilib as well, since we had to add a ton
of sharedl ibraries anyway. Test scripts also updated to work properly.
This commit is contained in:
Thad House
2016-11-06 21:47:18 -08:00
committed by Peter Johnson
parent e1bb05bc52
commit a06dd25d56
10 changed files with 206 additions and 54 deletions
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57
cppSettings.gradle
View File

@@ -133,6 +133,43 @@ task unzipWpiUtil(type: Copy) {
into wpiUtilUnzipLocation
}
task downloadArmCsCore() {
description = 'Downloads the C++ ARM CsCore Uberzip maven dependency.'
group = 'WPILib'
def depFolder = "$buildDir/dependencies"
def csZip = file("$depFolder/cscore-arm.zip")
outputs.file(csZip)
def armCsCore
doFirst {
def armCsDependency = project.dependencies.create('edu.wpi.cscore.cpp:cscore:+:athena-uberzip@zip')
def armConfig = project.configurations.detachedConfiguration(armCsDependency)
armConfig.setTransitive(false)
armCsCore = armConfig.files[0].canonicalFile
}
doLast {
copy {
from armCsCore
rename 'cscore(.+)', 'cscore-arm.zip'
into depFolder
}
}
}
def csCoreUnzipLocation = "$buildDir/cscore"
// Create a task that will unzip the cscore files into a temporary build directory
task unzipCsCore(type: Copy) {
description = 'Unzips the cscore maven dependency so that the include files and libraries can be used'
group = 'WPILib'
dependsOn downloadArmCsCore
from zipTree(downloadArmCsCore.outputs.files.singleFile)
into csCoreUnzipLocation
}
task clean(type: Delete) {
description = "Deletes the build directory"
group = "Build"
@@ -198,6 +235,26 @@ subprojects {
addStaticWpiUtilLibraryLinks(compileTask, linker, targetPlatform)
}
}
// This defines a project property that projects depending on cscore can use to setup that dependency.
ext.defineCsCoreProperties = {
ext.csCore = csCoreUnzipLocation
ext.csCoreInclude = "$csCoreUnzipLocation/include"
ext.csLibArmLocation = "$csCoreUnzipLocation/lib"
ext.csSharedLib = "$csLibArmLocation/libcscore.so"
ext.cvSharedLib = "$csLibArmLocation/libopencv.so"
ext.addCsCoreLibraryLinks = { compileTask, linker, targetPlatform ->
compileTask.dependsOn project(':').unzipCsCore
String architecture = targetPlatform.architecture
if (architecture.contains('arm')) {
linker.args << '-L' + csLibArmLocation
linker.args csSharedLib
linker.args cvSharedLib
}
}
}
plugins.withType(CppPlugin).whenPluginAdded {
// We use a custom-built cross compiler with the prefix arm-frc-linux-gnueabi-<util name>
// If this ever changes, the prefix will need to be changed here

32
myRobot/build.gradle
View File

@@ -19,6 +19,8 @@ dependencies {
compile wpilibj
compile files(wpilibj.sourceSets.test.output.classesDir)
compile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
compile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
compile 'edu.wpi.cscore.java:cscore:+:arm'
}
def nativeDirectory = "$buildDir/output"
@@ -30,16 +32,21 @@ clean {
task copyRobotLibraries(type: Copy) {
description = 'Copies all native libraries to an easy to find folder'
group = 'WPILib'
destinationDir = file(nativeDirectory)
dependsOn shadowJar
dependsOn ':hal:build'
dependsOn ':wpilibj:build'
from (shadowJar)
from (shadowJar) {
into '/'
}
project(':wpilibj').model {
binaries {
withType(SharedLibraryBinarySpec) { spec ->
from(spec.sharedLibraryFile)
from(spec.sharedLibraryFile) {
into '/'
}
}
}
}
@@ -47,19 +54,32 @@ task copyRobotLibraries(type: Copy) {
project(':hal').model {
binaries {
withType(SharedLibraryBinarySpec) { spec ->
from(spec.sharedLibraryFile)
from(spec.sharedLibraryFile) {
into '/'
}
}
}
}
defineNetworkTablesProperties()
defineWpiUtilProperties()
defineCsCoreProperties()
from file(netSharedLib)
from (file(netSharedLib)) {
into '/'
}
from file(wpiUtilSharedLib)
from (file(wpiUtilSharedLib)) {
into '/'
}
from (file(csLibArmLocation).path) {
include '**/*so.3.1'
include '**/libcscore.so'
include '**/libopencv_java310.so'
into '/'
}
into nativeDirectory
}

100
myRobotCpp/build.gradle
View File

@@ -10,38 +10,6 @@ ext.hal = project(':hal').projectDir.getAbsolutePath()
model {
components {
myRobotcpp(NativeExecutableSpec) {
targetPlatform 'arm'
binaries.all {
tasks.withType(CppCompile) {
addNiLibraryLinks(linker, targetPlatform)
addStaticNetworkTablesLibraryLinks(it, linker, targetPlatform)
}
cppCompiler.args '-pthread', '-Wno-unused-variable'
linker.args '-pthread', '-Wno-unused-variable', '-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a'
}
sources {
cpp {
source {
srcDir 'src'
include '**/*.cpp'
}
exportedHeaders {
srcDirs = ['include',
"${project.athena}/include", "${project.shared}/include",
"${project.hal}/include/HAL", netTablesInclude, wpiUtilInclude]
include '**/*.h'
}
lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
lib project: ':hal', library: 'HALAthena', linkage: 'static'
}
}
}
// Shared target used just to check that wpilib is fully linked
// Use the static target for normal linking
myRobotcppShared(NativeExecutableSpec) {
targetPlatform 'arm'
binaries.all {
tasks.withType(CppCompile) {
@@ -72,3 +40,71 @@ model {
}
}
}
def nativeDirectory = "$buildDir/output"
clean {
delete nativeDirectory
}
task copyRobotLibraries(type: Copy) {
description = 'Copies all native libraries to an easy to find folder'
group = 'WPILib'
destinationDir = file(nativeDirectory)
dependsOn ':hal:build'
dependsOn ':wpilibc:build'
dependsOn check
project(':wpilibc').model {
binaries {
withType(SharedLibraryBinarySpec) { spec ->
from(spec.sharedLibraryFile) {
into '/'
}
}
}
}
project.model {
binaries {
withType(NativeExecutableBinarySpec) { spec ->
from(spec.executableFile) {
into '/'
}
}
}
}
project(':hal').model {
binaries {
withType(SharedLibraryBinarySpec) { spec ->
from(spec.sharedLibraryFile) {
into '/'
}
}
}
}
defineNetworkTablesProperties()
defineWpiUtilProperties()
defineCsCoreProperties()
from (file(netSharedLib)) {
into '/'
}
from (file(wpiUtilSharedLib)) {
into '/'
}
from (file(csLibArmLocation).path) {
include '**/*so.3.1'
include '**/libcscore.so'
include '**/libopencv_java310.so'
into '/'
}
}
build.dependsOn copyRobotLibraries

2
ni-libraries/lib/libwpi.so
View File

@@ -1,3 +1,3 @@
/* GNU ld script */
OUTPUT_FORMAT(elf32-littlearm)
GROUP ( AS_NEEDED ( -lwpilibc -lHALAthena -lntcore -lwpiutil -lnilibraries ) )
GROUP ( AS_NEEDED ( -lwpilibc -lHALAthena -lntcore -lwpiutil -lcscore -lopencv -lnilibraries ) )

4
test-scripts/config.sh
View File

@@ -34,7 +34,7 @@ DEFAULT_JAVA_TEST_ARGS=""
DEFAULT_LOCAL_JAVA_TEST_FILE=../wpilibjIntegrationTests/build/libs/wpilibjIntegrationTests-all.jar
JAVA_REPORT=javareport.xml
DEFAULT_LIBRARY_JAVA_FILES=../wpilibjIntegrationTests/build/nativelibraries
DEFAULT_LIBRARY_JAVA_DESTINATION=/usr/local/frc/lib
DEFAULT_LIBRARY_NATIVE_FILES=../wpilibjIntegrationTests/build/nativelibraries
DEFAULT_LIBRARY_NATIVE_DESTINATION=/usr/local/frc/lib
DEFAULT_LOCAL_JAVA_TEST_RESULT=${DEFAULT_LOCAL_TEST_RESULTS_DIR}/${JAVA_REPORT}
DEFAULT_DESTINATION_JAVA_TEST_RESULTS=${DEFAULT_DESTINATION_TEST_RESULTS_DIR}/AntReports/TEST-edu.wpi.first.wpilibj.test.TestSuite.xml

9
test-scripts/deploy-and-run-test-on-robot.sh
View File

@@ -76,16 +76,19 @@ SCP_TEST_SCRIPT="scp config.sh ${DEFAULT_LOCAL_RUN_TEST_SCRIPT} ${ROBOT_ADDRESS}
SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR="ssh -t ${ROBOT_ADDRESS} \"chmod a+x ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT}; mkdir ${DEFAULT_TEST_SCP_DIR}; touch ${DESTINATION_TEST_FILE}\""
SCP_TEST_PROGRAM="scp ${LOCAL_TEST_FILE} ${ROBOT_ADDRESS}:${DESTINATION_TEST_FILE}"
SSH_RUN_TESTS="ssh -t ${ROBOT_ADDRESS} ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT} ${LANGUAGE} $(whoami) ${MUTEX_OVERRIDE_PARAM_TEXT}-d ${DEFAULT_TEST_SCP_DIR} ${TEST_RUN_ARGS}"
SCP_JAVA_LIBRARIES="scp ${DEFAULT_LIBRARY_JAVA_FILES}/* ${ROBOT_ADDRESS}:${DEFAULT_LIBRARY_JAVA_DESTINATION}"
SCP_NATIVE_LIBRARIES="scp ${DEFAULT_LIBRARY_NATIVE_FILES}/* ${ROBOT_ADDRESS}:${DEFAULT_LIBRARY_NATIVE_DESTINATION}"
CONFIG_NATIVE_LIBRARIES="ssh -t ${ADMIN_ROBOT_ADDRESS} ldconfig"
if [ $(which sshpass) ]; then
sshpass -p "" ${SCP_JAVA_LIBRARIES}
sshpass -p "" ${SCP_NATIVE_LIBRARIES}
sshpass -p "" ${CONFIG_NATIVE_LIBRARIES}
sshpass -p "" ${SCP_TEST_SCRIPT}
sshpass -p "" ${SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR}
sshpass -p "" ${SCP_TEST_PROGRAM}
sshpass -p "" ${SSH_RUN_TESTS}
else
eval ${SCP_JAVA_LIBRARIES}
eval ${SCP_NATIVE_LIBRARIES}
eval ${CONFIG_NATIVE_LIBRARIES}
eval ${SCP_TEST_SCRIPT}
eval ${SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR}
eval ${SCP_TEST_PROGRAM}

4
wpilibc/athena.gradle
View File

@@ -1,5 +1,6 @@
defineNetworkTablesProperties()
defineWpiUtilProperties()
defineCsCoreProperties()
debugStripSetup(project)
@@ -14,6 +15,7 @@ model {
cppCompiler.args "-DNAMESPACED_WPILIB"
addNiLibraryLinks(linker, targetPlatform)
addNetworkTablesLibraryLinks(it, linker, targetPlatform)
addCsCoreLibraryLinks(it, linker, targetPlatform)
}
}
sources {
@@ -23,7 +25,7 @@ model {
includes = ['**/*.cpp']
}
exportedHeaders {
srcDirs = ["${project.shared}/include", "${project.athena}/include", netTablesInclude, wpiUtilInclude]
srcDirs = ["${project.shared}/include", "${project.athena}/include", netTablesInclude, wpiUtilInclude, csCoreInclude]
includes = ['**/*.h']
}
lib project: ':hal', library: 'HALAthena', linkage: 'shared'

10
wpilibcIntegrationTests/build.gradle
View File

@@ -2,6 +2,7 @@ apply plugin: 'cpp'
defineNetworkTablesProperties()
defineWpiUtilProperties()
defineCsCoreProperties()
ext.shared = "${project(':wpilibc').projectDir.getAbsolutePath()}/shared"
ext.athena = "${project(':wpilibc').projectDir.getAbsolutePath()}/athena"
@@ -15,7 +16,8 @@ model {
tasks.withType(CppCompile) {
cppCompiler.args "-DNAMESPACED_WPILIB"
addNiLibraryLinks(linker, targetPlatform)
addStaticNetworkTablesLibraryLinks(it, linker, targetPlatform)
addNetworkTablesLibraryLinks(it, linker, targetPlatform)
addCsCoreLibraryLinks(it, linker, targetPlatform)
}
cppCompiler.args '-pthread', '-Wno-unused-variable'
@@ -35,12 +37,12 @@ model {
exportedHeaders {
srcDirs = ['include', 'gtest', 'gtest/include',
"${project.athena}/include", "${project.shared}/include",
"${project.hal}/include/HAL", netTablesInclude]
"${project.hal}/include/HAL", netTablesInclude, wpiUtilInclude, csCoreInclude]
include '**/*.h'
}
lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
lib project: ':hal', library: 'HALAthena', linkage: 'static'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':hal', library: 'HALAthena', linkage: 'shared'
}
}
}

4
wpilibj/athena.gradle
View File

@@ -14,6 +14,10 @@ dependencies {
athenaCompile sourceSets.shared.output
athenaCompile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
athenaRuntime 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
athenaCompile 'edu.wpi.cscore.java:cscore:+:arm'
athenaRuntime 'edu.wpi.cscore.java:cscore:+:arm'
athenaCompile 'org.opencv:opencv-java:+'
athenaRuntime 'org.opencv:opencv-java:+'
}
defineWpiUtilProperties()

38
wpilibjIntegrationTests/build.gradle
View File

@@ -19,6 +19,8 @@ dependencies {
compile wpilibj
compile files(wpilibj.sourceSets.test.output.classesDir)
compile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
compile 'edu.wpi.cscore.java:cscore:+:arm'
compile 'org.opencv:opencv-java:+'
compile 'junit:junit:4.11'
compile 'com.googlecode.junit-toolbox:junit-toolbox:2.0'
compile 'org.apache.ant:ant:1.9.4'
@@ -36,14 +38,28 @@ clean {
task copyIntegrationLibraries(type: Copy) {
description = 'Copies all native libraries to an easy to find folder'
group = 'WPILib'
destinationDir = file(nativeDirectory)
dependsOn shadowJar
dependsOn ':hal:build'
dependsOn ':wpilibj:build'
dependsOn ':wpilibc:build'
project(':wpilibj').model {
binaries {
withType(SharedLibraryBinarySpec) { spec ->
from(spec.sharedLibraryFile)
from(spec.sharedLibraryFile) {
into '/'
}
}
}
}
project(':wpilibc').model {
binaries {
withType(SharedLibraryBinarySpec) { spec ->
from(spec.sharedLibraryFile) {
into '/'
}
}
}
}
@@ -51,19 +67,31 @@ task copyIntegrationLibraries(type: Copy) {
project(':hal').model {
binaries {
withType(SharedLibraryBinarySpec) { spec ->
from(spec.sharedLibraryFile)
from(spec.sharedLibraryFile) {
into '/'
}
}
}
}
defineNetworkTablesProperties()
defineWpiUtilProperties()
defineCsCoreProperties()
from file(netSharedLib)
from (file(netSharedLib)) {
into '/'
}
from file(wpiUtilSharedLib)
from (file(wpiUtilSharedLib)) {
into '/'
}
into nativeDirectory
from (file(csLibArmLocation).path) {
include '**/*so.3.1'
include '**/libcscore.so'
include '**/libopencv_java310.so'
into '/'
}
}
compileJava.dependsOn tasks.getByPath(':wpilibj:testClasses')