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allwpilib/wpimath/CMakeLists.txt
Gold856 2102a543d1 Change Java JSON to Avaje Jsonb (#8721) 
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.
2026-04-10 23:21:00 -07:00

222 lines
7.6 KiB
CMake
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project(wpimath)
include(SubDirList)
include(CompileWarnings)
include(AddTest)
include(DownloadAndCheck)
file(
GLOB wpimath_jni_src
src/main/native/cpp/jni/DAREJNI.cpp
src/main/native/cpp/jni/EigenJNI.cpp
src/main/native/cpp/jni/Exceptions.cpp
src/main/native/cpp/jni/LinearSystemUtilJNI.cpp
src/main/native/cpp/jni/Transform3dJNI.cpp
src/main/native/cpp/jni/Twist3dJNI.cpp
src/main/native/cpp/jni/autodiff/GradientJNI.cpp
src/main/native/cpp/jni/autodiff/HessianJNI.cpp
src/main/native/cpp/jni/autodiff/JacobianJNI.cpp
src/main/native/cpp/jni/autodiff/VariableJNI.cpp
src/main/native/cpp/jni/autodiff/VariableMatrixJNI.cpp
src/main/native/cpp/jni/optimization/ProblemJNI.cpp
)
# Java bindings
if(WITH_JAVA)
include(UseJava)
if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/ejml-simple-0.44.0.jar")
set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml")
message(STATUS "Downloading EJML jarfiles...")
download_and_check(
"${BASE_URL}org/ejml/ejml-cdense/0.44.0/ejml-cdense-0.44.0.jar"
"${JAR_ROOT}/ejml-cdense-0.44.0.jar"
)
download_and_check(
"${BASE_URL}org/ejml/ejml-core/0.44.0/ejml-core-0.44.0.jar"
"${JAR_ROOT}/ejml-core-0.44.0.jar"
)
download_and_check(
"${BASE_URL}org/ejml/ejml-ddense/0.44.0/ejml-ddense-0.44.0.jar"
"${JAR_ROOT}/ejml-ddense-0.44.0.jar"
)
download_and_check(
"${BASE_URL}org/ejml/ejml-dsparse/0.44.0/ejml-dsparse-0.44.0.jar"
"${JAR_ROOT}/ejml-dsparse-0.44.0.jar"
)
download_and_check(
"${BASE_URL}org/ejml/ejml-fdense/0.44.0/ejml-fdense-0.44.0.jar"
"${JAR_ROOT}/ejml-fdense-0.44.0.jar"
)
download_and_check(
"${BASE_URL}org/ejml/ejml-simple/0.44.0/ejml-simple-0.44.0.jar"
"${JAR_ROOT}/ejml-simple-0.44.0.jar"
)
download_and_check(
"${BASE_URL}org/ejml/ejml-zdense/0.44.0/ejml-zdense-0.44.0.jar"
"${JAR_ROOT}/ejml-zdense-0.44.0.jar"
)
message(STATUS "All files downloaded.")
endif()
file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
set(CMAKE_JNI_TARGET true)
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
add_jar(
wpimath_jar
${JAVA_SOURCES}
INCLUDE_JARS wpiutil_jar wpiunits_jar ${EJML_JARS} ${AVAJE_JARS} ${QUICKBUF_JAR}
OUTPUT_NAME wpimath
OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
GENERATE_NATIVE_HEADERS wpimath_jni_headers
)
set_property(TARGET wpimath_jar PROPERTY FOLDER "java")
install_jar(wpimath_jar DESTINATION ${java_lib_dest})
install_jar_exports(TARGETS wpimath_jar FILE wpimath_jar.cmake DESTINATION share/wpimath)
add_library(wpimathjni ${wpimath_jni_src})
wpilib_target_warnings(wpimathjni)
target_link_libraries(wpimathjni PUBLIC wpimath)
set_property(TARGET wpimathjni PROPERTY FOLDER "libraries")
target_link_libraries(wpimathjni PRIVATE wpimath_jni_headers)
add_dependencies(wpimathjni wpimath_jar)
install(TARGETS wpimathjni EXPORT wpimathjni)
export(TARGETS wpimathjni FILE wpimathjni.cmake NAMESPACE wpimathjni::)
endif()
if(WITH_JAVA_SOURCE)
include(UseJava)
include(CreateSourceJar)
add_source_jar(
wpimath_src_jar
BASE_DIRECTORIES
${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
OUTPUT_NAME wpimath-sources
OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
)
set_property(TARGET wpimath_src_jar PROPERTY FOLDER "java")
install_jar(wpimath_src_jar DESTINATION ${java_lib_dest})
endif()
file(
GLOB_RECURSE wpimath_native_src
src/main/native/cpp/*.cpp
src/main/native/thirdparty/sleipnir/src/*.cpp
)
list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
file(GLOB_RECURSE wpimath_protobuf_native_src src/generated/main/native/cpp/wpimath/protobuf/*.cpp)
add_library(protobuf OBJECT ${wpimath_protobuf_native_src})
target_link_libraries(protobuf wpiutil)
add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
if(MSVC)
get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
set(CONFIG_SUFFIX "$<$<BOOL:${IS_MULTI_CONFIG}>:_$<CONFIG>>")
file(
GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
CONTENT $<LIST:JOIN,$<TARGET_OBJECTS:protobuf>,\n>
)
add_custom_command(
TARGET wpimath
PRE_LINK
COMMAND
cmake -E __create_def ${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def
${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
)
target_link_options(
wpimath
PRIVATE
/DEF:$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def>
)
endif()
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
set_property(TARGET wpimath PROPERTY FOLDER "libraries")
target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
target_compile_features(wpimath PUBLIC cxx_std_20)
if(MSVC)
target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
endif()
wpilib_target_warnings(wpimath)
target_link_libraries(wpimath wpiutil)
if(NOT USE_SYSTEM_EIGEN)
install(
DIRECTORY src/main/native/thirdparty/eigen/include/
DESTINATION "${include_dest}/wpimath"
)
target_include_directories(
wpimath
SYSTEM
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/eigen/include>
)
else()
find_package(Eigen3 CONFIG REQUIRED)
target_link_libraries(wpimath Eigen3::Eigen)
endif()
install(
DIRECTORY src/main/native/thirdparty/gcem/include/ src/main/native/thirdparty/sleipnir/include/
DESTINATION "${include_dest}/wpimath"
)
target_include_directories(
wpimath
SYSTEM
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/gcem/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/src>
)
install(
DIRECTORY src/generated/main/native/cpp/
DESTINATION "${include_dest}/wpimath"
FILES_MATCHING
PATTERN "*.h"
)
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpimath")
target_include_directories(
wpimath
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/cpp>
$<INSTALL_INTERFACE:${include_dest}/wpimath>
)
install(TARGETS wpimath EXPORT wpimath)
export(TARGETS wpimath FILE wpimath.cmake NAMESPACE wpimath::)
configure_file(wpimath-config.cmake.in ${WPILIB_BINARY_DIR}/wpimath-config.cmake)
install(FILES ${WPILIB_BINARY_DIR}/wpimath-config.cmake DESTINATION share/wpimath)
install(EXPORT wpimath DESTINATION share/wpimath)
if(WITH_TESTS)
wpilib_add_test(wpimath src/test/native/cpp)
target_include_directories(wpimath_test PRIVATE src/test/native/include)
target_link_libraries(wpimath_test wpimath googletest)
endif()
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