mirror of
https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
synced 2026-06-09 00:28:06 -06:00
376 lines
13 KiB
Groovy
376 lines
13 KiB
Groovy
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plugins {
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id 'edu.wpi.first.WpilibTools' version '1.3.0'
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}
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import java.nio.file.Path
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ext {
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nativeName = "photonlib"
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includePhotonTargeting = true
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// Include the generated Version file
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generatedHeaders = "src/generate/native/include"
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licenseFile = file("LICENSE")
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}
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apply plugin: 'cpp'
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apply plugin: 'google-test-test-suite'
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apply plugin: 'edu.wpi.first.NativeUtils'
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apply from: "${rootDir}/shared/config.gradle"
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apply from: "${rootDir}/shared/javacommon.gradle"
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apply from: "${rootDir}/versioningHelper.gradle"
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nativeUtils {
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exportsConfigs {
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"${nativeName}" {}
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}
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}
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model {
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components {
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"${nativeName}"(NativeLibrarySpec) {
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sources {
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cpp {
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source {
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srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp", "$buildDir/generated/native/cpp"
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include '**/*.cpp', '**/*.cc'
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}
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exportedHeaders {
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srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
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if (project.hasProperty('generatedHeaders')) {
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srcDir generatedHeaders
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}
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include "**/*.h"
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}
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}
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}
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binaries.all {
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it.tasks.withType(CppCompile) {
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it.dependsOn generateProto
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}
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if(project.hasProperty('includePhotonTargeting')) {
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lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
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}
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}
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nativeUtils.useRequiredLibrary(it, "wpilib_shared")
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nativeUtils.useRequiredLibrary(it, "apriltag_shared")
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nativeUtils.useRequiredLibrary(it, "opencv_shared")
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nativeUtils.useRequiredLibrary(it, "cscore_shared")
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nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
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}
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}
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testSuites {
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"${nativeName}Test"(GoogleTestTestSuiteSpec) {
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for(NativeComponentSpec c : $.components) {
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if (c.name == nativeName) {
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testing c
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break
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}
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}
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sources {
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cpp {
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source {
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srcDirs 'src/test/native/cpp'
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include '**/*.cpp'
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}
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exportedHeaders {
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srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
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}
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}
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}
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binaries.all {
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it.tasks.withType(CppCompile) {
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it.dependsOn generateProto
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}
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if(project.hasProperty('includePhotonTargeting')) {
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lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
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lib project: ':photon-targeting', library: 'photontargetingJNI', linkage: 'shared'
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}
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}
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nativeUtils.useRequiredLibrary(it, "cscore_shared")
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nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
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nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
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nativeUtils.useRequiredLibrary(it, "googletest_static")
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nativeUtils.useRequiredLibrary(it, "apriltag_shared")
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nativeUtils.useRequiredLibrary(it, "opencv_shared")
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}
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}
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tasks {
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def c = $.testSuites
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project.tasks.create('runCpp', Exec) {
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description = "Run the photon-lib executable"
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def found = false
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def systemArch = getCurrentArch()
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c.each {
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if (it in GoogleTestTestSuiteSpec && it.name == "${nativeName}Test") {
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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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test.dependsOn it.tasks.install
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test.systemProperty 'java.library.path', filePath
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test.environment 'LD_LIBRARY_PATH', filePath
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test.environment 'DYLD_LIBRARY_PATH', filePath
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test.workingDir 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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}
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}
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apply from: "${rootDir}/shared/javacpp/publish.gradle"
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// Include the version file in the distributed sources
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cppHeadersZip {
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from('src/generate/native/include') {
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into '/'
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}
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}
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def photonlibFileInput = file("src/generate/photonlib.json.in")
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ext.photonlibFileOutput = file("$buildDir/generated/vendordeps/photonlib.json")
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task generateVendorJson() {
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description = "Generates the vendor JSON file"
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group = "PhotonVision"
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outputs.file photonlibFileOutput
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inputs.file photonlibFileInput
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println "Writing vendor JSON ${pubVersion} to $photonlibFileOutput"
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if (photonlibFileOutput.exists()) {
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photonlibFileOutput.delete()
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}
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photonlibFileOutput.parentFile.mkdirs()
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def read = photonlibFileInput.text
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.replace('${photon_version}', pubVersion)
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.replace('${frc_year}', frcYear)
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photonlibFileOutput.text = read
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outputs.upToDateWhen { false }
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}
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build.dependsOn generateVendorJson
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task publishVendorJsonToLocalOutputs(type: Copy) {
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from photonlibFileOutput
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into "$allOutputsFolder/vendordeps/"
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// Rename to match the name of the JSON we publish to maven to avoid user confusion
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rename { String fileName ->
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fileName.replace(".json", "-json-1.0.json")
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}
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publish.dependsOn it
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}
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task copyVendorJsonToExamples {
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outputs.upToDateWhen { false }
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jar.finalizedBy it
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}
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[
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"photonlib-cpp-examples",
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"photonlib-java-examples"
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].each { exampleFolder ->
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file("${rootDir}/${exampleFolder}")
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.listFiles()
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.findAll {
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return (it.isDirectory()
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&& !it.isHidden()
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&& !it.name.startsWith(".")
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&& it.toPath().resolve("build.gradle").toFile().exists())
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}
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.collect { it.name }
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.each { exampleVendordepFolder ->
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task "copyVendorJsonTo${exampleFolder}-${exampleVendordepFolder}"(type: Copy) {
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from photonlibFileOutput
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into "${rootDir}/${exampleFolder}/${exampleVendordepFolder}/vendordeps/"
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outputs.upToDateWhen { false }
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copyVendorJsonToExamples.dependsOn it
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}
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}
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}
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clean {
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[
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"photonlib-cpp-examples",
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"photonlib-java-examples"
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].each { exampleFolder ->
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file("${rootDir}/${exampleFolder}")
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.listFiles()
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.findAll {
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return (it.isDirectory()
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&& !it.isHidden()
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&& !it.name.startsWith(".")
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&& it.toPath().resolve("build.gradle").toFile().exists())
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}
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.collect { it.name }
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.each { exampleVendordepFolder ->
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delete "${rootDir}/${exampleFolder}/${exampleVendordepFolder}/vendordeps/"
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}
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}
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}
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task writeCurrentVersion {
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doLast {
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def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
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writePhotonVersionFile(versionFileIn, Path.of("$buildDir", "generated", "java", "org", "photonvision", "PhotonVersion.java"),
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versionString)
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versionFileIn = file("${rootDir}/shared/PhotonVersion.cpp.in")
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writePhotonVersionFile(versionFileIn, Path.of("$buildDir", "generated", "native", "cpp", "PhotonVersion.cpp"),
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versionString)
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}
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}
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// https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/build.gradle#L52
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sourceSets.main.java.srcDir "${buildDir}/generated/java/"
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compileJava.dependsOn writeCurrentVersion
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// Building photon-lib requires photon-targeting to generate its proto files. This technically shouldn't be required but is needed for it to build.
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model {
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components {
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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/include"
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srcDirs "src/generate/native/include"
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}
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}
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it.binaries.all {
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it.tasks.withType(CppCompile) {
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it.dependsOn writeCurrentVersion
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it.dependsOn ":photon-targeting:generateProto"
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}
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}
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}
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}
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testSuites {
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all {
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it.binaries.all {
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it.tasks.withType(CppCompile) {
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it.dependsOn ":photon-targeting:generateProto"
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}
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}
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}
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}
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}
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def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
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if (!project.hasProperty('copyOfflineArtifacts')) {
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// Publish the vendordep json
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publishing {
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publications {
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vendorjson(MavenPublication) {
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artifact vendorJson
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artifactId = "${nativeName}-json"
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groupId = "org.photonvision"
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version "1.0"
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}
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}
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}
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}
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// Add photonversion to cpp sources zip
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tasks.named('cppSourcesZip') {
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dependsOn writeCurrentVersion
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from("$buildDir/generated/native/cpp") {
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into '/'
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}
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}
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// Publish an uberzip with photon-lib and photon-targeting. This makes python binding easier to have it in one place
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def zipBaseNameCombined = '_GROUP_org.photonvision_combinedcpp_ID_photonvision-combinedcpp_CLS'
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task combinedCppSourcesZip(type: Zip) {
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dependsOn(':photon-lib:cppSourcesZip', ':photon-targeting:cppSourcesZip')
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destinationDirectory = file("$buildDir/outputs")
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archiveBaseName = zipBaseNameCombined
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archiveClassifier = "sources"
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// Include the contents of the photon-lib cppSourcesZip. Magic chatgpt nonsense
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from(zipTree(project(':photon-lib').tasks.cppSourcesZip.archiveFile.get().asFile)) {
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into 'photon-lib'
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}
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from(zipTree(project(':photon-targeting').tasks.cppSourcesZip.archiveFile.get().asFile)) {
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into 'photon-targeting'
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}
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duplicatesStrategy = DuplicatesStrategy.FAIL
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}
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task combinedHeadersZip(type: Zip) {
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dependsOn(':photon-lib:cppHeadersZip', ':photon-targeting:cppHeadersZip')
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destinationDirectory = file("$buildDir/outputs")
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archiveBaseName = zipBaseNameCombined
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archiveClassifier = "headers"
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// Include the contents of the photon-lib cppHeadersZip. Magic chatgpt nonsense
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from(zipTree(project(':photon-lib').tasks.cppHeadersZip.archiveFile.get().asFile)) {
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into 'photon-lib'
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}
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from(zipTree(project(':photon-targeting').tasks.cppHeadersZip.archiveFile.get().asFile)) {
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into 'photon-targeting'
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}
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duplicatesStrategy = DuplicatesStrategy.FAIL
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}
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// Add the uberzip to our maven publications
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publishing {
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publications {
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// Don't publish if we're creating an offline zip
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if (!project.hasProperty('copyOfflineArtifacts')) {
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combinedcpp(MavenPublication) {
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artifact combinedCppSourcesZip
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artifact combinedHeadersZip
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artifactId = "${nativeName}-combinedcpp"
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groupId artifactGroupId
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version pubVersion
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}
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}
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}
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}
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// setup wpilib bundled native libs
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wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
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def nativeConfigName = 'wpilibNatives'
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def nativeConfig = configurations.create(nativeConfigName)
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def nativeTasks = wpilibTools.createExtractionTasks {
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configurationName = nativeConfigName
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}
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nativeTasks.addToSourceSetResources(sourceSets.test)
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nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
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nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
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nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
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nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
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nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
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nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
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nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
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nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
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