mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
2102a543d1
Jackson is a very heavy library; it supports loads of features that we don't need, and historically has caused issues due to long class loading times (a little over 2 seconds to load AprilTagFieldLayout). This often manifests as a help request in the form of "my robot disables when I do X, but doesn't disable when doing X in subsequent attempts until code restart." While SC has brought down Jackson loading times significantly, with AprilTagFieldLayout loads taking only 330 milliseconds, that's still a rather long delay, and while libraries should handle any JSON loading ahead of time to prevent delays in auto/teleop, it would still be good to make the worst case better to reduce user frustration. Benchmarks indicate using [Avaje Jsonb](https://github.com/avaje/avaje-jsonb) to load AprilTagFieldLayout only takes ~70 ms, a fair chunk of which isn't actually in Avaje Jsonb (~4 ms is spent on using getResourceAsStream to retrieve the JSON file, ~8 ms is spent on just loading the AprilTag class and its dependencies). Note that all times listed are end-to-end, meaning nothing else was done except for the operation being benchmarked, and doing arithmetic on them can be flawed due to some classes being loaded twice, i.e., getResourceAsStream and `new AprilTag()` likely load some of the same JDK classes and so subtracting both from the Avaje Jsonb load time is likely slightly incorrect because class loading is being double counted. For our purposes, it's likely accurate enough and is mostly just for contextualization. Benchmarks were run on a Raspberry Pi CM5 with 2 GB of RAM. Source code for the [results](https://github.com/user-attachments/files/26471452/benchmark.txt) can be found in the "Fastjson2" commit (2456d15ca8ebd17635e607cd40bf8816e77869a1). Avaje Jsonb uses code generation via annotation processors to generate the classes needed to do JSON serde and uses service providers to find them, which will require downstream changes in robot projects, as the different service providers in each library must be merged together for Avaje Jsonb to function. We will use the Gradle shadow plugin, as its already used by the installer and therefore adds zero additional dependencies.
340 lines
13 KiB
Groovy
340 lines
13 KiB
Groovy
import org.wpilib.deployutils.deploy.target.RemoteTarget
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import org.wpilib.deployutils.deploy.target.location.SshDeployLocation
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import org.wpilib.deployutils.deploy.artifact.*
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import org.gradle.internal.os.OperatingSystem
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plugins {
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id 'java'
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id 'application'
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id 'cpp'
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id 'visual-studio'
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}
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apply plugin: 'org.wpilib.NativeUtils'
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apply plugin: 'org.wpilib.DeployUtils'
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apply from: "${rootDir}/shared/config.gradle"
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application {
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if (OperatingSystem.current().isMacOsX()) {
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applicationDefaultJvmArgs = ['-XstartOnFirstThread']
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}
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}
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ext {
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sharedCvConfigs = [benchmarkCpp: []]
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staticCvConfigs = [benchmarkCppStatic: []]
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useJava = true
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useCpp = true
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skipDev = true
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}
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apply from: "${rootDir}/shared/opencv.gradle"
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application {
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mainClass = 'wpilib.robot.Main'
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}
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apply plugin: 'com.gradleup.shadow'
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shadowJar {
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mergeServiceFiles()
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duplicatesStrategy = DuplicatesStrategy.INCLUDE
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}
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repositories {
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maven {
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url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
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}
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}
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dependencies {
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implementation project(':apriltag')
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implementation project(':cameraserver')
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implementation project(':cscore')
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implementation project(':epilogue-runtime')
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implementation project(':hal')
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implementation project(':ntcore')
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implementation project(':wpilibj')
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implementation project(':commandsv2')
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implementation project(':wpimath')
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implementation project(':wpinet')
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implementation project(':wpiunits')
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implementation project(':wpiutil')
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annotationProcessor project(':epilogue-processor')
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implementation libs.jmh.core
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annotationProcessor libs.jmh.annotationprocessor
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}
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tasks.withType(com.github.spotbugs.snom.SpotBugsTask).configureEach {
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onlyIf { false }
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}
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deploy {
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targets {
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systemcore(RemoteTarget) {
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directory = '/home/systemcore'
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maxChannels = 4
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locations {
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mdns(SshDeployLocation) {
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address = "robot.local"
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user = 'systemcore'
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password = 'systemcore'
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ipv6 = false
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}
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usb(SshDeployLocation) {
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address = "172.26.0.1"
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user = 'systemcore'
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password = 'systemcore'
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ipv6 = false
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}
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}
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timeout = 7
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def remote = it
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artifacts {
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all {
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postdeploy << { ctx ->
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ctx.execute("sync")
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ctx.execute("sudo ldconfig /home/systemcore/wpilib/third-party/lib")
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}
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}
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benchmarkCpp(NativeExecutableArtifact) {
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libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
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def excludes = getLibraryFilter().getExcludes()
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excludes.add('**/*.so.debug')
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excludes.add('**/*.so.*.debug')
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postdeploy << { ctx ->
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ctx.execute("echo '/home/systemcore/benchmarkCpp' > /home/systemcore/robotCommand")
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ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
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ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/benchmarkCpp\"")
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ctx.execute('chmod +x benchmarkCpp')
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}
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}
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benchmarkCppStatic(NativeExecutableArtifact) {
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libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
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postdeploy << { ctx ->
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ctx.execute("echo '/home/systemcore/benchmarkCppStatic' > /home/systemcore/robotCommand")
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ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
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ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/benchmarkCppStatic\"")
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ctx.execute('chmod +x benchmarkCppStatic')
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}
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}
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benchmarkCppJava(NativeExecutableArtifact) {
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libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
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def excludes = getLibraryFilter().getExcludes()
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excludes.add('**/*.so.debug')
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excludes.add('**/*.so.*.debug')
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}
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benchmarkJava(JavaArtifact) {
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jarTask = shadowJar
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postdeploy << { ctx ->
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ctx.execute("echo 'java -XX:+UseSerialGC -Djava.library.path=/home/systemcore/wpilib/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/systemcore/benchmark-all.jar' > /home/systemcore/robotCommand")
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ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
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}
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}
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}
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}
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}
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}
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// Prevent the eclipse compiler (used by the VS Code extension for intellisense and debugging)
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// from generating bad class files from annotation processors like Epilogue
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eclipse {
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classpath {
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containers 'org.eclipse.buildship.core.gradleclasspathcontainer'
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file.whenMerged { cp ->
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def entries = cp.entries;
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def src = new org.gradle.plugins.ide.eclipse.model.SourceFolder('build/generated/sources/annotationProcessor/java/main/', null)
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entries.add(src)
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}
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}
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}
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tasks.register('deployJava') {
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try {
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dependsOn tasks.named('deployjresystemcore')
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dependsOn tasks.named('deploybenchmarkJavasystemcore')
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dependsOn tasks.named('deploybenchmarkCppJavasystemcore') // Deploying shared C++ is how to get the Java shared libraries.
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} catch (ignored) {
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}
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}
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tasks.register('deployShared') {
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try {
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dependsOn tasks.named('deploybenchmarkCppsystemcore')
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} catch (ignored) {
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}
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}
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tasks.register('deployStatic') {
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try {
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dependsOn tasks.named('deploybenchmarkCppStaticsystemcore')
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} catch (ignored) {
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}
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}
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model {
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components {
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benchmarkCpp(NativeExecutableSpec) {
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if (project.hasProperty('ciDebugOnly')) {
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targetBuildTypes 'debug'
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} else {
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targetBuildTypes 'release'
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}
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sources {
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cpp {
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source {
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srcDirs = [
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'src/main/native/cpp',
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'src/main/native/thirdparty/benchmark/src'
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]
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includes = ['**/*.cpp']
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}
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exportedHeaders {
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srcDirs = [
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'src/main/native/include',
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'src/main/native/thirdparty/benchmark/include',
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'src/main/native/thirdparty/benchmark/src'
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]
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includes = ['**/*.h']
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}
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}
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}
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binaries.all { binary ->
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if (binary.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
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if (binary.buildType.name == 'debug') {
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deploy.targets.systemcore.artifacts.benchmarkCpp.binary = binary
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deploy.targets.systemcore.artifacts.benchmarkCppJava.binary = binary
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}
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}
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lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
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lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
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lib project: ':cscore', library: 'cscore', linkage: 'shared'
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lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
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project(':hal').addHalDependency(binary, 'shared')
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project(':hal').addHalJniDependency(binary)
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project(':ntcore').addNtcoreDependency(binary, 'shared')
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project(':ntcore').addNtcoreJniDependency(binary)
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lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
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lib project: ':commandsv2', library: 'commandsv2', linkage: 'shared'
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lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
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lib project: ':wpimath', library: 'wpimathJNIShared', linkage: 'shared'
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lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
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lib project: ':wpinet', library: 'wpinetJNIShared', linkage: 'shared'
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lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
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lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
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if (binary.targetPlatform.operatingSystem.isWindows()) {
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// Shlwapi.lib is needed for SHGetValueA() inside thirdparty benchmark
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binary.linker.args << "Shlwapi.lib"
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}
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binary.cppCompiler.define 'benchmark_EXPORTS'
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}
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}
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benchmarkCppStatic(NativeExecutableSpec) {
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if (project.hasProperty('ciDebugOnly')) {
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targetBuildTypes 'debug'
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} else {
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targetBuildTypes 'release'
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}
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nativeUtils.excludeBinariesFromStrip(it)
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sources {
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cpp {
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source {
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srcDirs = [
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'src/main/native/cpp',
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'src/main/native/thirdparty/benchmark/src'
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]
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includes = ['**/*.cpp']
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}
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exportedHeaders {
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srcDirs = [
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'src/main/native/include',
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'src/main/native/thirdparty/benchmark/include',
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'src/main/native/thirdparty/benchmark/src'
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]
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includes = ['**/*.h']
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}
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}
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}
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binaries.all { binary ->
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if (binary.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
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if (binary.buildType.name == 'debug') {
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deploy.targets.systemcore.artifacts.benchmarkCppStatic.binary = binary
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}
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}
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lib project: ':apriltag', library: 'apriltag', linkage: 'static'
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lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
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lib project: ':cscore', library: 'cscore', linkage: 'static'
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project(':hal').addHalDependency(binary, 'static')
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project(':ntcore').addNtcoreDependency(binary, 'static')
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lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
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lib project: ':commandsv2', library: 'commandsv2', linkage: 'static'
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lib project: ':wpimath', library: 'wpimath', linkage: 'static'
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lib project: ':wpinet', library: 'wpinet', linkage: 'static'
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lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
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if (binary.targetPlatform.operatingSystem.isWindows()) {
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// Shlwapi.lib is needed for SHGetValueA() inside thirdparty benchmark
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binary.linker.args << "Shlwapi.lib"
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}
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binary.cppCompiler.define 'benchmark_EXPORTS'
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binary.cppCompiler.define 'BENCHMARK_STATIC_DEFINE'
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}
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}
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all {
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it.sources.each {
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it.exportedHeaders {
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srcDirs 'src/main/native/thirdparty/benchmark/include'
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}
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}
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}
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}
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tasks {
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def c = $.components
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project.tasks.create('runCpp', Exec) {
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group = 'WPILib'
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description = "Run the benchmarkCpp executable"
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def found = false
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def systemArch = getCurrentArch()
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c.each {
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if (it in NativeExecutableSpec && it.name == "benchmarkCpp") {
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it.binaries.each {
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if (!found) {
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def arch = it.targetPlatform.name
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if (arch == systemArch) {
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dependsOn it.tasks.install
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commandLine it.tasks.install.runScriptFile.get().asFile.toString()
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def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
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run.dependsOn it.tasks.install
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run.systemProperty 'java.library.path', filePath
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found = true
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}
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}
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}
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}
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}
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}
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installAthena(Task) {
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$.binaries.each {
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if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore && it.component.name == 'benchmarkCpp') {
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dependsOn it.tasks.install
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}
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}
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}
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installAthenaStatic(Task) {
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$.binaries.each {
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if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore && it.component.name == 'benchmarkCppStatic') {
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dependsOn it.tasks.install
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}
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}
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}
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}
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}
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