allwpilib/tools/wpical/build.gradle

import org.gradle.internal.os.OperatingSystem

if (project.hasProperty('onlylinuxsystemcore')) {
    return;
}

description = "Field Calibration Tool"

apply plugin: 'c'
apply plugin: 'cpp'
apply plugin: 'visual-studio'
apply plugin: 'google-test-test-suite'
apply plugin: 'org.wpilib.NativeUtils'

if (OperatingSystem.current().isWindows()) {
    apply plugin: 'windows-resources'
}

ext {
    nativeName = 'wpical'
    useCpp = true
    sharedCvConfigs = [
        wpicalTest: []]
    staticCvConfigs = []
}

apply from: "${rootDir}/shared/resources.gradle"
apply from: "${rootDir}/shared/config.gradle"

def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")

apply from: "${rootDir}/shared/ceres.gradle"
apply from: "${rootDir}/shared/opencv.gradle"

task generateCppVersion() {
    description = 'Generates the wpilib version class'
    group = 'WPILib'

    outputs.file wpilibVersionFileOutput
    inputs.file wpilibVersionFileInput

    if (wpilibVersioning.releaseMode) {
        outputs.upToDateWhen { false }
    }

    // We follow a simple set of checks to determine whether we should generate a new version file:
    // 1. If the release type is not development, we generate a new version file
    // 2. If there is no generated version number, we generate a new version file
    // 3. If there is a generated build number, and the release type is development, then we will
    //    only generate if the publish task is run.
    doLast {
        def version = wpilibVersioning.version.get()
        println "Writing version ${version} to $wpilibVersionFileOutput"

        if (wpilibVersionFileOutput.exists()) {
            wpilibVersionFileOutput.delete()
        }
        def read = wpilibVersionFileInput.text.replace('${wpilib_version}', version)
        wpilibVersionFileOutput.write(read)
    }
}

gradle.taskGraph.addTaskExecutionGraphListener { graph ->
    def willPublish = graph.hasTask(publish)
    if (willPublish) {
        generateCppVersion.outputs.upToDateWhen { false }
    }
}

def generateTask = createGenerateResourcesTask('main', 'WPIcal', 'wpical', project)

project(':').libraryBuild.dependsOn build
tasks.withType(CppCompile) {
    dependsOn generateTask
    dependsOn generateCppVersion
}

// Suppress warnings
nativeUtils.platformConfigs.each {
    if (it.name.contains('windows')) {
        it.cCompiler.args.add("/wd4047")
        it.cCompiler.args.add("/wd4098")
        it.cCompiler.args.add("/wd4267")
        it.cppCompiler.args.add("/wd4068")
        it.cppCompiler.args.add("/wd4101")
        it.cppCompiler.args.add("/wd4200")
        it.cppCompiler.args.add("/wd4576")
        it.cppCompiler.args.add("/wd4715")
    } else if (it.name.contains('osx')) {
        it.cCompiler.args.add("-Wno-format-nonliteral")
        it.cCompiler.args.remove("-pedantic")
        it.cCompiler.args.add("-Wno-unused-variable")
        it.cCompiler.args.add("-Wno-unused-function")
        it.cCompiler.args.add("-Wno-sign-compare")
        it.cppCompiler.args.add("-Wno-missing-field-initializers")
        it.cppCompiler.args.remove("-pedantic")
        it.cppCompiler.args.add("-Wno-unused-variable")
        it.cppCompiler.args.add("-Wno-unused-function")
        it.cppCompiler.args.add("-Wno-sign-compare")
        it.cppCompiler.args.remove("-permissive")
        it.cppCompiler.args.add("-fpermissive")
        it.cppCompiler.args.add("-Wno-missing-braces")
        it.cppCompiler.args.add("-Wno-null-conversion")
        it.cppCompiler.args.add("-Wno-unused-but-set-variable")
    } else {
        it.cCompiler.args.add("-Wno-format-nonliteral")
        it.cCompiler.args.remove("-pedantic")
        it.cCompiler.args.add("-Wno-unused-variable")
        it.cCompiler.args.add("-Wno-unused-function")
        it.cCompiler.args.add("-Wno-sign-compare")
        it.cppCompiler.args.add("-Wno-missing-field-initializers")
        it.cppCompiler.args.remove("-pedantic")
        it.cppCompiler.args.add("-Wno-unused-variable")
        it.cppCompiler.args.add("-Wno-unused-function")
        it.cppCompiler.args.add("-Wno-sign-compare")
        it.cppCompiler.args.add("-Wno-deprecated-declarations")
        it.cppCompiler.args.add("-Wno-deprecated-enum-enum-conversion")
        it.cppCompiler.args.remove("-permissive")
        it.cppCompiler.args.add("-fpermissive")
    }
}
def testResources = "\"$rootDir/tools/wpical/src/main/native/assets\"".replace("\\", "/")
model {
    components {
        "${nativeName}"(NativeExecutableSpec) {
            baseName = 'wpical'
            sources {
                cpp {
                    source {
                        srcDirs 'src/main/native/cpp', 'src/main/native/thirdparty/libdogleg/src', 'src/main/native/thirdparty/mrcal/src', 'src/main/native/thirdparty/mrcal_java/src', "$buildDir/generated/main/cpp"
                        include '**/*.cpp'
                    }
                    exportedHeaders {
                        srcDirs 'src/main/native/include', 'src/main/native/thirdparty/libdogleg/include', 'src/main/native/thirdparty/mrcal/generated', 'src/main/native/thirdparty/mrcal/include', 'src/main/native/thirdparty/mrcal/include/minimath', 'src/main/native/thirdparty/mrcal_java/include'
                    }
                }
                c {
                    source {
                        srcDirs 'src/main/native/thirdparty/mrcal/src'
                        include '**/*.c'
                    }
                    exportedHeaders {
                        srcDirs 'src/main/native/include', 'src/main/native/thirdparty/libdogleg/include', 'src/main/native/thirdparty/mrcal/generated', 'src/main/native/thirdparty/mrcal/include', 'src/main/native/thirdparty/mrcal/include/minimath'
                    }
                }
                if (OperatingSystem.current().isWindows()) {
                    rc.source {
                        srcDirs 'src/main/native/win'
                        include '*.rc'
                    }
                }
            }
            binaries.all {
                if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                    it.buildable = false
                    return
                }
                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
                lib project: ':fields', library: 'fields', linkage: 'static'
                lib project: ':glass', library: 'glass', linkage: 'static'
                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                nativeUtils.useRequiredLibrary(it, 'ceres')
                nativeUtils.useRequiredLibrary(it, 'opencv_static')
                it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT'
                it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
                if (it.targetPlatform.operatingSystem.isWindows()) {
                    it.cppCompiler.define('GLOG_DEPRECATED', '__declspec(deprecated)')
                } else {
                    it.cppCompiler.define('GLOG_DEPRECATED', '[[deprecated]]')
                }
                if (it.targetPlatform.operatingSystem.isWindows()) {
                    // Comdlg32.lib is needed for GetSaveFileNameA
                    // dbghelp.lib is needed for glog functions
                    it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib' << 'Comdlg32.lib' << 'dbghelp.lib'
                } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
                    it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
                } else {
                    it.linker.args << '-lX11'
                    if (it.targetPlatform.name.startsWith('linuxarm')) {
                        it.linker.args << '-lGL'
                    }
                }
            }
        }
    }
    testSuites {
        "${nativeName}Test"(GoogleTestTestSuiteSpec) {
            for(NativeComponentSpec c : $.components) {
                if (c.name == nativeName) {
                    testing c
                    break
                }
            }
            sources {
                cpp {
                    source {
                        srcDirs 'src/test/native/cpp'
                        include '**/*.cpp'
                    }
                    exportedHeaders {
                        srcDirs 'src/test/native/include', 'src/main/native/cpp'
                    }
                }
            }
            binaries.all {
                if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                    it.buildable = false
                    return
                }
                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
                lib project: ':fields', library: 'fields', linkage: 'static'
                lib project: ':glass', library: 'glass', linkage: 'static'
                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                nativeUtils.useRequiredLibrary(it, 'ceres')
                nativeUtils.useRequiredLibrary(it, 'opencv_static')
                it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT'
                it.cppCompiler.define('PROJECT_ROOT_PATH', testResources)
                it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
                if (it.targetPlatform.name == nativeUtils.wpi.platforms.windowsarm64) {
                    // https://developercommunity.visualstudio.com/t/-imp-std-init-once-complete-unresolved-external-sy/1684365#T-N10041864
                    it.linker.args << '/alternatename:__imp___std_init_once_complete=__imp_InitOnceComplete'
                    it.linker.args << '/alternatename:__imp___std_init_once_begin_initialize=__imp_InitOnceBeginInitialize'
                }
                if (it.targetPlatform.operatingSystem.isWindows()) {
                    it.cppCompiler.define('GLOG_DEPRECATED', '__declspec(deprecated)')
                } else {
                    it.cppCompiler.define('GLOG_DEPRECATED', '[[deprecated]]')
                }
                lib project: ':thirdparty:googletest', library: 'googletest', linkage: 'static'
                it.cppCompiler.define("RUNNING_WPICAL_TESTS")
                if (it.targetPlatform.operatingSystem.isWindows()) {
                    it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
                    // Comdlg32.lib is needed for GetSaveFileNameA
                    // dbghelp.lib is needed for glog functions
                    // advapi32.lib is needed for __imp_RegDeleteKeyA and other __imp_Reg functions for icvLoadWindowPos and the save variant
                    it.linker.args << 'advapi32.lib' << 'Comdlg32.lib' << 'dbghelp.lib'
                } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
                    it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
                } else {
                    it.linker.args << '-lX11'
                    if (it.targetPlatform.name.startsWith('linuxarm')) {
                        it.linker.args << '-lGL'
                    }
                }
            }
        }
    }
}

apply from: 'publish.gradle'