mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
344 lines
14 KiB
Groovy
344 lines
14 KiB
Groovy
import edu.wpi.first.deployutils.deploy.target.RemoteTarget
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import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
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import edu.wpi.first.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: 'edu.wpi.first.NativeUtils'
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apply plugin: 'edu.wpi.first.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 = 'frc.robot.Main'
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}
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apply plugin: 'com.gradleup.shadow'
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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 "org.openjdk.jmh:jmh-core:1.37"
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annotationProcessor "org.openjdk.jmh:jmh-generator-annprocess:1.37"
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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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roborio(RemoteTarget) {
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directory = '/home/lvuser'
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maxChannels = 4
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locations {
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ssh(SshDeployLocation) {
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address = "172.22.11.2"
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user = 'admin'
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password = ''
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ipv6 = false
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}
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}
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def remote = it
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artifacts.registerFactory(WPIJREArtifact) {
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return objects.newInstance(WPIJREArtifact, it, remote)
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}
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artifacts {
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all {
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predeploy << { ctx ->
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ctx.execute('. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null')
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ctx.execute("sed -i -e 's/\"exec /\"/' /usr/local/frc/bin/frcRunRobot.sh")
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}
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postdeploy << { ctx ->
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ctx.execute("sync")
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ctx.execute("ldconfig")
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}
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}
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benchmarkCpp(NativeExecutableArtifact) {
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libraryDirectory = '/usr/local/frc/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/lvuser/benchmarkCpp' > /home/lvuser/robotCommand")
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ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
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ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/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 = '/usr/local/frc/third-party/lib'
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postdeploy << { ctx ->
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ctx.execute("echo '/home/lvuser/benchmarkCppStatic' > /home/lvuser/robotCommand")
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ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
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ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/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 = '/usr/local/frc/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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jre(WPIJREArtifact) {
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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 '/usr/local/frc/JRE/bin/java -XX:+UseSerialGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/benchmark-all.jar' > /home/lvuser/robotCommand")
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ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/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('deployjreroborio')
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dependsOn tasks.named('deploybenchmarkJavaroborio')
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dependsOn tasks.named('deploybenchmarkCppJavaroborio') // 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('deploybenchmarkCpproborio')
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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('deploybenchmarkCppStaticroborio')
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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.roborio) {
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if (binary.buildType.name == 'debug') {
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deploy.targets.roborio.artifacts.benchmarkCpp.binary = binary
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deploy.targets.roborio.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.name == nativeUtils.wpi.platforms.roborio) {
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nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
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}
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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.roborio) {
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if (binary.buildType.name == 'debug') {
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deploy.targets.roborio.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.name == nativeUtils.wpi.platforms.roborio) {
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nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
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}
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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.roborio && 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.roborio && 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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