allwpilib/cppSettings.gradle

// These add the nilibraries shared library to the linker args
def niLibraryPath = file('ni-libraries/lib').path
def niLibrary = niLibraryPath + "/libnilibraries.so"

configurations.create('armDeps')

dependencies {
    armDeps ntcoreDep('cpp', 'arm', 'zip')
    armDeps wpiUtilDep('arm')
    armDeps cscoreDep('cpp', 'athena-uberzip', 'zip')
}

def depLocation = "$buildDir/dependencies"

configurations.armDeps.files.each { file ->
    def depName = file.name.substring(0, file.name.indexOf('-'))
    def t = tasks.create("downloadArm${depName.capitalize()}", Copy) {
        description = "Downloads and unzips the $depName dependency."
        group = 'Dependencies'
        from zipTree(file)
        into "$depLocation/${depName.toLowerCase()}"
    }
}

task downloadNetworkTables {
    description = 'Downloads all needed versions of networktables.'
    group = 'Dependencies'
    dependsOn downloadArmNetworkTables
}

task downloadWpiutil {
    description = 'Downloads all needed versions of WPIUtil.'
    group = 'Dependencies'
    dependsOn downloadArmWpiutil
}

task downloadCscore {
    description = 'Downloads all needed versions of cscore.'
    group = 'Dependencies'
    dependsOn downloadArmCscore
}

if (enableSimulation) {
    configurations.create('nativeDeps')

    dependencies {
        nativeDeps ntcoreDep('cpp', 'desktop', 'zip')
        nativeDeps wpiUtilDep('desktop')
    }

    configurations.nativeDeps.files.each { file ->
        def depName = file.name.substring(0, file.name.indexOf('-'))
        def t = tasks.create("downloadNative${depName.capitalize()}", Copy) {
            description = "Downloads and unzips the $depName dependency."
            group = 'Dependencies'
            from zipTree(file)
            into "$depLocation/${depName.toLowerCase()}"
        }
    }

    downloadNetworkTables.dependsOn downloadNativeNetworkTables
    downloadWpiutil.dependsOn downloadNativeWpiutil
}

def netTablesUnzipLocation = "$depLocation/networktables"
def wpiUtilUnzipLocation = "$depLocation/wpiutil"
def csCoreUnzipLocation = "$depLocation/cscore"

task clean(type: Delete) {
    description = "Deletes the build directory"
    group = "Build"
    delete buildDir
}

subprojects {
    ext.defineWpiUtilProperties = {
        ext.wpiUtil = wpiUtilUnzipLocation
        ext.wpiUtilInclude = "$wpiUtilUnzipLocation/include"
        ext.wpiUtilLibArmLocation = "$wpiUtilUnzipLocation/Linux/arm"
        if (enableSimulation) {
            ext.wpiUtilLibDesktopLocation = "$wpiUtilUnzipLocation/Linux/amd64"
        }
        ext.wpiUtilSharedLib = "$wpiUtilLibArmLocation/libwpiutil.so"
        ext.wpiUtilSharedLibDebug = "$wpiUtilLibArmLocation/libwpiutil.so.debug"
        ext.wpiUtilStaticLib = "$wpiUtilLibArmLocation/libwpiutil.a"

        ext.addWpiUtilLibraryLinks = { compileTask, linker, targetPlatform ->
            compileTask.dependsOn project(':').downloadWpiutil
            String architecture = targetPlatform.architecture
            if (architecture.contains('arm')) {
                linker.args wpiUtilSharedLib
            }
        }

        ext.addStaticWpiUtilLibraryLinks = { compileTask, linker, targetPlatform ->
            compileTask.dependsOn project(':').downloadWpiutil
            String architecture = targetPlatform.architecture
            if (architecture.contains('arm')) {
                linker.args wpiUtilStaticLib
            }
        }
    }

    // This defines a project property that projects depending on network tables can use to setup that dependency.
    ext.defineNetworkTablesProperties = {
        ext.netTables = netTablesUnzipLocation
        ext.netTablesInclude = "$netTablesUnzipLocation/include"
        ext.netLibArmLocation = "$netTablesUnzipLocation/Linux/arm"
        if (enableSimulation) {
            ext.netLibDesktopLocation = "$netTablesUnzipLocation/Linux/amd64"
        }
        ext.netSharedLib = "$netLibArmLocation/libntcore.so"
        ext.netSharedLibDebug = "$netLibArmLocation/libntcore.so.debug"
        ext.netStaticLib = "$netLibArmLocation/libntcore.a"

        ext.addNetworkTablesLibraryLinks = { compileTask, linker, targetPlatform ->
            compileTask.dependsOn project(':').downloadNetworkTables
            String architecture = targetPlatform.architecture
            if (architecture.contains('arm')) {
                linker.args netSharedLib
            }
            addWpiUtilLibraryLinks(compileTask, linker, targetPlatform)
        }

        ext.addStaticNetworkTablesLibraryLinks = { compileTask, linker, targetPlatform ->
            compileTask.dependsOn project(':').downloadNetworkTables
            String architecture = targetPlatform.architecture
            if (architecture.contains('arm')) {
                linker.args netStaticLib
            }
            addStaticWpiUtilLibraryLinks(compileTask, linker, targetPlatform)
        }
    }

    // This defines a project property that projects depending on cscore can use to setup that dependency.
    ext.defineCsCoreProperties = {
        ext.csCore = csCoreUnzipLocation
        ext.csCoreInclude = "$csCoreUnzipLocation/include"
        ext.csLibArmLocation = "$csCoreUnzipLocation/lib"
        ext.csSharedLib = "$csLibArmLocation/libcscore.so"
        ext.cvSharedLib = "$csLibArmLocation/libopencv.so"

        ext.addCsCoreLibraryLinks = { compileTask, linker, targetPlatform ->
            compileTask.dependsOn project(':').downloadCscore
            String architecture = targetPlatform.architecture
            if (architecture.contains('arm')) {
                linker.args << '-L' + csLibArmLocation
                linker.args csSharedLib
                linker.args cvSharedLib
            }
        }
    }

    plugins.withType(CppPlugin).whenPluginAdded {
        // We use a custom-built cross compiler with the prefix arm-frc-linux-gnueabi-<util name>
        // If this ever changes, the prefix will need to be changed here
        def compilerPrefix = 'arm-frc-linux-gnueabi-'
        model {
            buildTypes {
                debug
            }
            // Adds a custom toolchain for our compiler prefix and options
            toolChains {
                gcc(Gcc) {
                    target('arm') {
                        cppCompiler.executable = compilerPrefix + cppCompiler.executable
                        linker.executable = compilerPrefix + linker.executable
                        assembler.executable = compilerPrefix + assembler.executable
                        // Gradle auto-adds the -m32 argument to the linker and compiler. Our compiler only supports
                        // arm, and doesn't understand this flag, so it is removed from both
                        cppCompiler.withArguments { args ->
                            args << '-std=c++1y' << '-Wformat=2' << '-Wall' << '-Wextra' << '-Werror' << '-pedantic'
                            args << '-Wno-psabi' << '-Wno-unused-parameter' << '-fPIC' << '-Og' << '-g3' << '-rdynamic'
                            //TODO: When the compiler allows us to actually call deprecated functions from within
                            // deprecated function, remove this line (this will cause calling deprecated functions
                            // to be treated as a warning rather than an error).
                            args << '-Wno-error=deprecated-declarations'
                            args.remove('-m32')
                        }
                        linker.withArguments { args ->
                            args << '-rdynamic'
                            args.remove('-m32')
                        }
                        staticLibArchiver.executable = compilerPrefix + staticLibArchiver.executable
                    }
                }
                // Workaround for OS X. Macs for some reason want to use Xcode's gcc
                // (which just wraps Clang), so we have to explicitly make it so
                // that trying to compile with Clang will call gcc instead
                macGcc(Clang) {
                    target('arm') {
                        cppCompiler.executable = compilerPrefix + 'g++'
                        linker.executable = compilerPrefix + 'g++'
                        assembler.executable = compilerPrefix + 'gcc'
                        // Gradle auto-adds the -m32 argument to the linker and compiler. Our compiler only supports
                        // arm, and doesn't understand this flag, so it is removed from both
                        cppCompiler.withArguments { args ->
                            args << '-std=c++1y' << '-Wformat=2' << '-Wall' << '-Wextra' << '-Werror' << '-pedantic'
                            args << '-Wno-psabi' << '-Wno-unused-parameter' << '-fPIC' << '-Og' << '-g3' << '-rdynamic'
                            //TODO: When the compiler allows us to actually call deprecated functions from within
                            // deprecated function, remove this line (this will cause calling deprecated functions
                            // to be treated as a warning rather than an error).
                            args << '-Wno-error=deprecated-declarations'
                            args.remove('-m32')
                        }
                        linker.withArguments { args ->
                            args << '-rdynamic'
                            args.remove('-m32')
                        }
                        staticLibArchiver.executable = compilerPrefix + 'ar'
                    }
                }
            }

            // The only platform is arm linux
            platforms {
                arm {
                    architecture 'arm'
                    operatingSystem 'linux'
                }
            }
        }

        ext.niLibraryHeadersRoot = "${rootDir}/ni-libraries/include"
        ext.niLibraryHeadersChipObject = "${rootDir}/ni-libraries/include/FRC_FPGA_ChipObject"

        // This task adds the appropriate linker flags for the NI libraries
        ext.addNiLibraryLinks = { linker, targetPlatform ->
            String architecture = targetPlatform.architecture
            if (architecture.contains('arm')){
                linker.args << '-L' + niLibraryPath
                linker.args niLibrary
            }
        }

        // This task sets up the shared libraries to be stripped
        ext.debugStripSetup = { project->
            if (!project.hasProperty('debug')) {
                project.tasks.whenObjectAdded { task ->
                    def name = task.name.toLowerCase()
                    if (name.contains('link') && name.contains('sharedlibrary')) {
                        def library = task.outputFile.absolutePath
                        def debugLibrary = task.outputFile.absolutePath + ".debug"
                        task.doLast {
                            exec { commandLine "${compilerPrefix}objcopy", '--only-keep-debug', library, debugLibrary }
                            exec { commandLine "${compilerPrefix}strip", '-g', library }
                            exec { commandLine "${compilerPrefix}objcopy", "--add-gnu-debuglink=$debugLibrary", library }
                        }
                    }
                }
            }
        }
    }
}