ext.useWpiUtil = { project ->
    project.tasks.create(name: "downloadWpiUtil") {
        description = 'Downloads the wpiutil maven dependency.'
        group = 'WPILib'
        def depFolder = "${project.buildDir}/dependencies"
        def utilZip = file("${depFolder}/wpiutil.zip")
        outputs.file(utilZip)
        def wpiUtil

        doFirst {
            def wpiUtilDependency = project.dependencies.create("edu.wpi.first.wpilib:wpiutil:+:${project.isArm ? 'arm' : 'desktop'}@zip")
            def wpiUtilConfig = project.configurations.detachedConfiguration(wpiUtilDependency)
            wpiUtilConfig.setTransitive(false)
            wpiUtil = wpiUtilConfig.files[0].canonicalFile
        }

        doLast {
            copy {
                from wpiUtil
                rename 'wpiutil(.+)', 'wpiutil.zip'
                into depFolder
            }
        }
    }

    def wpiUtilUnzipLocation = "${project.buildDir}/wpiutil"

    // Create a task that will unzip the wpiutil files into a temporary build directory
    project.tasks.create(name: "unzipWpiUtil", type: Copy) {
        description = 'Unzips the wpiutil maven dependency so that the include files and libraries can be used'
        group = 'WPILib'
        dependsOn project.tasks.downloadWpiUtil
        from zipTree(project.tasks.downloadWpiUtil.outputs.files.singleFile)
        into wpiUtilUnzipLocation
    }

    project.ext.wpiUtil = wpiUtilUnzipLocation
    project.ext.wpiUtilInclude = "$wpiUtilUnzipLocation/include"

    project.ext.addWpiUtilStaticLibraryLinks = { compileTask, linker, targetPlatform ->
        compileTask.dependsOn project.tasks.unzipWpiUtil
        String path = project.getPlatformPath2(targetPlatform)
        if (targetPlatform.operatingSystem.windows) {
            linker.args "${project.wpiUtil}/${path}/wpiutil.lib"
        } else {
            linker.args "${project.wpiUtil}/${path}/libwpiutil.a"
        }
    }
    
    project.ext.addWpiUtilSharedLibraryLinks = { compileTask, linker, targetPlatform ->
        compileTask.dependsOn project.tasks.unzipWpiUtil
        String path = project.getPlatformPath2(targetPlatform)
        if (targetPlatform.operatingSystem.windows) {
            linker.args "${project.wpiUtil}/${path}/wpiutil.dll"
        } else {
            linker.args "${project.wpiUtil}/${path}/libwpiutil.so"
        }
    }
}

ext.getOpenCvPlatformPackage = { targetPlatform ->
    if (targetPlatform.architecture.arm) {
        return 'linux-arm'
    } else if (targetPlatform.operatingSystem.linux) {
        if (targetPlatform.architecture.amd64) {
            return 'linux-x86_64'
        } else {
            return 'linux-' + targetPlatform.architecture.name
        }
    } else if (targetPlatform.operatingSystem.windows) {
        if (targetPlatform.architecture.amd64) {
            return 'windows-x86_64'
        } else {
            return 'windows-' + targetPlatform.architecture.name
        }
    } else if (targetPlatform.operatingSystem.macOsX) {
        if (targetPlatform.architecture.amd64) {
            return 'osx-x86_64'
        } else {
            return 'osx-' + targetPlatform.architecture.name
        }
    } else {
        return targetPlatform.operatingSystem.name + '-' + targetPlatform.architecture.name
    }
}

task downloadOpenCvHeaders() {
    description = 'Downloads the OpenCV Headers maven dependency.'
    group = 'WPILib'
    def depFolder = "${buildDir}/dependencies"
    def openCvHeadersZip = file("${depFolder}/opencv-headers.zip")
    outputs.file(openCvHeadersZip)
    def openCvHeaders

    doFirst {
        def openCvHeadersDependency = project.dependencies.create("org.opencv:opencv-headers:3.1.0@jar")
        def openCvHeadersConfig = project.configurations.detachedConfiguration(openCvHeadersDependency)
        openCvHeadersConfig.setTransitive(false)
        openCvHeaders = openCvHeadersConfig.files[0].canonicalFile
    }

    doLast {
        copy {
            from openCvHeaders
            rename 'opencv-headers(.+)', 'opencv-headers.zip'
            into depFolder
        }
    }
}

ext.useOpenCv = { project ->
    def openCvUnzipLocation = "${project.buildDir}/opencv"

    project.tasks.create(name: "unzipOpenCvHeaders", type: Copy) {
        description = 'Unzips the OpenCV maven dependency so that the include files and libraries can be used'
        group = 'OpenCv'
        dependsOn downloadOpenCvHeaders
        from zipTree(downloadOpenCvHeaders.outputs.files.singleFile)
        into "${openCvUnzipLocation}/include"
    }

    project.ext.openCv = openCvUnzipLocation
    project.ext.openCvInclude = "$openCvUnzipLocation/include"

    project.ext.addOpenCvLibraryLinks = { compileTask, linker, targetPlatform ->
        def openCvPlatform = project.getOpenCvPlatformPackage(targetPlatform)
        def openCvNativesFolder = "${project.openCv}/${openCvPlatform}"

        if (project.tasks.findByPath("unzipOpenCvNatives_${openCvPlatform}") == null) {
            project.tasks.create(name: "downloadOpenCvNatives_${openCvPlatform}") {
                description = 'Downloads the OpenCV natives maven dependency.'
                group = 'OpenCv'
                def depFolder = "${project.buildDir}/dependencies"
                def openCvNativesZip = file("${depFolder}/opencv-natives-${openCvPlatform}.zip")
                outputs.file(openCvNativesZip)
                def openCvNatives

                doFirst {
                    def openCvNativesDependency = project.dependencies.create("org.opencv:opencv-natives:3.1.0:${openCvPlatform}@jar")
                    def openCvNativesConfig = project.configurations.detachedConfiguration(openCvNativesDependency)
                    openCvNativesConfig.setTransitive(false)
                    openCvNatives = openCvNativesConfig.files[0].canonicalFile
                }

                doLast {
                    copy {
                        from openCvNatives
                        rename 'opencv-natives(.+)', "opencv-natives-${openCvPlatform}.zip"
                        into depFolder
                    }
                }
            }

            project.tasks.create(name: "unzipOpenCvNatives_${openCvPlatform}", type: Copy) {
                description = 'Unzips the OpenCV maven dependency so that the include files and libraries can be used'
                group = 'OpenCv'
                dependsOn "downloadOpenCvNatives_${openCvPlatform}"
                from zipTree(project.tasks["downloadOpenCvNatives_${openCvPlatform}"].outputs.files.singleFile)
                into openCvNativesFolder
                exclude '**/MANIFEST.MF'
            }
        }

        if (project.includeJava && project.tasks.findByPath("unzipOpenCvJni_${openCvPlatform}") == null) {
            project.tasks.create(name: "downloadOpenCvJni_${openCvPlatform}") {
                description = 'Downloads the OpenCV JNI maven dependency.'
                group = 'OpenCv'
                def depFolder = "${project.buildDir}/dependencies"
                def openCvJniZip = file("${depFolder}/opencv-jni-${openCvPlatform}.zip")
                outputs.file(openCvJniZip)
                def openCvJni

                doFirst {
                    def openCvJniDependency = project.dependencies.create("org.opencv:opencv-jni:3.1.0:${openCvPlatform}@jar")
                    def openCvJniConfig = project.configurations.detachedConfiguration(openCvJniDependency)
                    openCvJniConfig.setTransitive(false)
                    openCvJni = openCvJniConfig.files[0].canonicalFile
                }

                doLast {
                    copy {
                        from openCvJni
                        rename 'opencv-jni(.+)', "opencv-jni-${openCvPlatform}.zip"
                        into depFolder
                    }
                }
            }

            project.tasks.create(name: "unzipOpenCvJni_${openCvPlatform}", type: Copy) {
                description = 'Unzips the OpenCV maven dependency so that the include files and libraries can be used'
                group = 'OpenCv'
                dependsOn "downloadOpenCvJni_${openCvPlatform}"
                from zipTree(project.tasks["downloadOpenCvJni_${openCvPlatform}"].outputs.files.singleFile)
                into openCvNativesFolder
                exclude '**/MANIFEST.MF'
            }
        }

        compileTask.dependsOn "unzipOpenCvHeaders", "unzipOpenCvNatives_${openCvPlatform}"
        if (project.includeJava) {
            compileTask.dependsOn "unzipOpenCvJni_${openCvPlatform}"
        }
        if (targetPlatform.operatingSystem.windows) {
            linker.args "${openCvNativesFolder}/opencv.lib"
        } else {
            linker.args "-L${openCvNativesFolder}"
            linker.args "-lopencv"
            linker.args "-ldl"
        }
    }
}