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Fix vendordep including all wpilib libraries (#1155)
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* Fix vendordep including all wpilib libraries. Without this fix, users were consuming a massively oversized .jar
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@ThadHouse
ThadHouse authored Jan 14, 2024
1 parent a8aa32f commit 6917ec8
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Showing 8 changed files with 268 additions and 118 deletions.
6 changes: 6 additions & 0 deletions build.gradle
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@@ -1,3 +1,5 @@
import edu.wpi.first.toolchain.*

plugins {
id "com.diffplug.spotless" version "6.22.0"
id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
Expand Down Expand Up @@ -96,3 +98,7 @@ spotless {
wrapper {
gradleVersion '8.4'
}

ext.getCurrentArch = {
return NativePlatforms.desktop
}
24 changes: 24 additions & 0 deletions photon-core/build.gradle
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Original file line number Diff line number Diff line change
@@ -1,7 +1,31 @@
plugins {
id 'edu.wpi.first.WpilibTools' version '1.3.0'
}

import java.nio.file.Path

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

wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()

def nativeConfigName = 'wpilibNatives'
def nativeConfig = configurations.create(nativeConfigName)

def nativeTasks = wpilibTools.createExtractionTasks {
configurationName = nativeConfigName
}

nativeTasks.addToSourceSetResources(sourceSets.main)

nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())

dependencies {
// JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
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124 changes: 117 additions & 7 deletions photon-lib/build.gradle
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Original file line number Diff line number Diff line change
@@ -1,9 +1,3 @@
plugins {
id 'edu.wpi.first.WpilibTools' version '1.3.0'
}

apply plugin: "edu.wpi.first.NativeUtils"

import java.nio.file.Path

ext {
Expand All @@ -13,9 +7,125 @@ ext {
generatedHeaders = "src/generate/native/include"
}

apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
apply plugin: 'cpp'
apply plugin: 'google-test-test-suite'
apply plugin: 'edu.wpi.first.NativeUtils'

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

apply from: "${rootDir}/versioningHelper.gradle"

nativeUtils {
exportsConfigs {
"${nativeName}" {}
}
}

model {
components {
"${nativeName}"(NativeLibrarySpec) {
sources {
cpp {
source {
srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
include '**/*.cpp', '**/*.cc'
}
exportedHeaders {
srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
if (project.hasProperty('generatedHeaders')) {
srcDir generatedHeaders
}
include "**/*.h"
}
}
}

binaries.all {
it.tasks.withType(CppCompile) {
it.dependsOn generateProto
}
if(project.hasProperty('includePhotonTargeting')) {
lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
}
}

nativeUtils.useRequiredLibrary(it, "wpilib_shared")
nativeUtils.useRequiredLibrary(it, "apriltag_shared")
nativeUtils.useRequiredLibrary(it, "opencv_shared")
}
}
testSuites {
"${nativeName}Test"(GoogleTestTestSuiteSpec) {
for(NativeComponentSpec c : $.components) {
if (c.name == nativeName) {
testing c
break
}
}
sources {
cpp {
source {
srcDirs 'src/test/native/cpp'
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
}
}
}

binaries.all {
it.tasks.withType(CppCompile) {
it.dependsOn generateProto
}
if(project.hasProperty('includePhotonTargeting')) {
lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
}
}

nativeUtils.useRequiredLibrary(it, "cscore_shared")
nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
nativeUtils.useRequiredLibrary(it, "googletest_static")
nativeUtils.useRequiredLibrary(it, "apriltag_shared")
nativeUtils.useRequiredLibrary(it, "opencv_shared")
}
}

tasks {
def c = $.testSuites
project.tasks.create('runCpp', Exec) {
description = "Run the photon-lib executable"
def found = false
def systemArch = getCurrentArch()
c.each {
if (it in GoogleTestTestSuiteSpec && it.name == "${nativeName}Test") {
it.binaries.each {
if (!found) {
def arch = it.targetPlatform.name
if (arch == systemArch) {
dependsOn it.tasks.install
commandLine it.tasks.install.runScriptFile.get().asFile.toString()
def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
test.dependsOn it.tasks.install
test.systemProperty 'java.library.path', filePath
test.environment 'LD_LIBRARY_PATH', filePath
test.environment 'DYLD_LIBRARY_PATH', filePath
test.workingDir filePath

found = true
}
}
}
}
}
}
}
}

apply from: "${rootDir}/shared/javacpp/publish.gradle"

// Include the version file in the distributed sources
cppHeadersZip {
from('src/generate/native/include') {
Expand Down
34 changes: 3 additions & 31 deletions photon-lib/src/test/java/org/photonvision/OpenCVTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,31 +26,23 @@

import static org.junit.jupiter.api.Assertions.*;

import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.io.IOException;
import java.util.List;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.opencv.core.Core;
import org.photonvision.estimation.CameraTargetRelation;
import org.photonvision.estimation.OpenCVHelp;
import org.photonvision.estimation.RotTrlTransform3d;
import org.photonvision.estimation.TargetModel;
import org.photonvision.simulation.SimCameraProperties;
import org.photonvision.simulation.VisionSystemSim;
import org.photonvision.simulation.VisionTargetSim;

public class OpenCVTest {
Expand Down Expand Up @@ -84,28 +76,8 @@ public static void assertSame(Transform3d trf1, Transform3d trf2) {
private static final SimCameraProperties prop = new SimCameraProperties();

@BeforeAll
public static void setUp() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
AprilTagJNI.Helper.setExtractOnStaticLoad(false);

try {
CombinedRuntimeLoader.loadLibraries(
VisionSystemSim.class,
"wpiutiljni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
Core.NATIVE_LIBRARY_NAME,
"cscorejni",
"apriltagjni");
} catch (Exception e) {
e.printStackTrace();
}
public static void setUp() throws IOException {
CameraServerCvJNI.forceLoad();

// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();
Expand Down
19 changes: 0 additions & 19 deletions photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -30,17 +30,11 @@

import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
Expand All @@ -56,19 +50,6 @@ class PhotonPoseEstimatorTest {

@BeforeAll
public static void init() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);

try {
CombinedRuntimeLoader.loadLibraries(
PhotonPoseEstimatorTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}

List<AprilTag> tagList = new ArrayList<>(2);
tagList.add(new AprilTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
tagList.add(new AprilTag(1, new Pose3d(5, 5, 5, new Rotation3d())));
Expand Down
31 changes: 0 additions & 31 deletions photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -30,10 +30,6 @@

import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
Expand All @@ -42,11 +38,7 @@
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Stream;
Expand All @@ -58,7 +50,6 @@
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import org.junit.jupiter.params.provider.ValueSource;
import org.opencv.core.Core;
import org.photonvision.estimation.TargetModel;
import org.photonvision.estimation.VisionEstimation;
import org.photonvision.simulation.PhotonCameraSim;
Expand All @@ -85,28 +76,6 @@ public void testEmpty() {

@BeforeAll
public static void setUp() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
CameraServerJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
AprilTagJNI.Helper.setExtractOnStaticLoad(false);

try {
CombinedRuntimeLoader.loadLibraries(
VisionSystemSim.class,
"wpiutiljni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
Core.NATIVE_LIBRARY_NAME,
"cscorejni",
"apriltagjni");
} catch (Exception e) {
e.printStackTrace();
}

// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();

Expand Down
25 changes: 0 additions & 25 deletions photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,14 +26,8 @@

import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.io.IOException;
Expand All @@ -44,25 +38,6 @@
public class ApriltagWorkbenchTest {
@BeforeAll
public static void setUp() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);

try {
CombinedRuntimeLoader.loadLibraries(
ApriltagWorkbenchTest.class,
"wpiutiljni",
"ntcorejni",
"wpinetjni",
"wpiHaljni",
"cscorejnicvstatic");
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
}

// No version check for testing
PhotonCamera.setVersionCheckEnabled(false);
}
Expand Down
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