apply plugin: 'cpp'

defineNetworkTablesProperties()
defineWpiUtilProperties()

ext.shared = "${project(':wpilibc').projectDir.getAbsolutePath()}/shared"
ext.athena = "${project(':wpilibc').projectDir.getAbsolutePath()}/athena"
ext.hal = project(':hal').projectDir.getAbsolutePath()

model {
    components {
        myRobotcpp(NativeExecutableSpec) {
            targetPlatform 'roborio-arm'
            binaries.all {
                tasks.withType(CppCompile) {
                    addNiLibraryLinks(linker, targetPlatform)
                    addNetworkTablesLibraryLinks(it, linker, targetPlatform)
                    addCsCoreLibraryLinks(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: 'shared'
                    lib project: ':hal', library: 'HALAthena', linkage: 'shared'
                }
            }
        }
    }
}

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