Only link to stuff I need

PhotonVision · Sep 22, 2024 · 1c4cdb3 · 1c4cdb3
1 parent c4baefb
commit 1c4cdb3
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Showing 6 changed files with 33 additions and 50 deletions.
diff --git a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
@@ -27,22 +27,17 @@
 import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.cscore.CameraServerCvJNI;
 import edu.wpi.first.cscore.CameraServerJNI;
-import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.WPIMathJNI;
 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.Timer;
 import java.io.IOException;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 import org.opencv.core.Core;
 import org.photonvision.common.dataflow.structures.Packet;
-import org.photonvision.jni.PhotonTargetingJniLoader;
-import org.photonvision.jni.TimeSyncServer;
 import org.photonvision.targeting.PhotonPipelineResult;
 
 class PhotonCameraTest {

diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle
@@ -25,6 +25,28 @@ sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
 
 apply plugin: 'edu.wpi.first.GradleJni'
 
+// explicitly specify the opencv libraries linked to by nativeUtils.useRequiredLibrary(it, "opencv_shared")
+def OPENCV_LIBRARIES_TO_EXCLUDE = [
+    "**/libopencv_core.so.*",
+    "**/libopencv_stitching.so.*",
+    "**/libopencv_dnn.so.*",
+    "**/libopencv_photo.so.*",
+    "**/libopencv_video.so.*",
+    "**/libopencv_flann.so.*",
+    "**/libopencv_ml.so.*",
+    "**/libopencv_calib3d.so.*",
+    "**/libopencv_imgproc.so.*",
+    "**/libopencv_objdetect.so.*",
+    "**/libopencv_videoio.so.*",
+    "**/libopencv_highgui.so.*",
+    "**/libopencv_aruco.so.*",
+    "**/libopencv_gapi.so.*",
+    "**/libopencv_features2d.so.*",
+    "**/libopencv_imgcodecs.so.*",
+]
+nativeUtils.nativeDependencyContainer.getByName("opencv_shared").extraSharedExcludes.addAll(OPENCV_LIBRARIES_TO_EXCLUDE)
+println nativeUtils.nativeDependencyContainer.getByName("opencv_shared").extraSharedExcludes.get()
+
 // Folder whose contents will be included in the final jar
 def outputsFolder = file("$buildDir/extra_resources")
 
@@ -63,9 +85,11 @@ model {
                 }
             }
 
-            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
-            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
-            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+            nativeUtils.useRequiredLibrary(it, "wpiutil_shared")
+            nativeUtils.useRequiredLibrary(it, "wpimath_shared")
+            nativeUtils.useRequiredLibrary(it, "wpinet_shared")
+            nativeUtils.useRequiredLibrary(it, "wpilibc_shared")
+            nativeUtils.useRequiredLibrary(it, "ntcore_shared")
         }
         "${nativeName}JNI"(JniNativeLibrarySpec) {
 
@@ -88,8 +112,9 @@ model {
                 lib library: nativeName, linkage: 'shared'
             }
 
-            nativeUtils.useRequiredLibrary(it, "opencv_shared")
-            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+            nativeUtils.useRequiredLibrary(it, "wpiutil_shared")
+            nativeUtils.useRequiredLibrary(it, "wpinet_shared")
+            nativeUtils.useRequiredLibrary(it, "ntcore_shared")
         }
 
         all {
@@ -112,7 +137,6 @@ model {
                 }
             }
         }
-
     }
     testSuites {
         "${nativeName}Test"(GoogleTestTestSuiteSpec) {
@@ -140,25 +164,9 @@ model {
                 }
             }
 
-            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")
-        }
-    }
-
-    binaries {
-        withType(NativeBinarySpec).all {
-            if (it.toolChain instanceof VisualCpp) {
-                // TODO
-            }
-
-            if (it.toolChain instanceof GccCompatibleToolChain) {
-                // Ends up appending this flag, not prepending
-                it.linker.args '-Wl,--as-needed'
-            }
         }
     }
 
@@ -220,11 +228,8 @@ def nativeTasks = wpilibTools.createExtractionTasks {
 
 nativeTasks.addToSourceSetResources(sourceSets.test)
 
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
 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())
diff --git a/photon-targeting/src/main/native/jni/TimeSyncClientJNI.cpp b/photon-targeting/src/main/native/jni/TimeSyncClientJNI.cpp
@@ -20,10 +20,6 @@
 #include <cstdio>
 #include <string>
 
-#include <opencv2/core.hpp>
-#include <opencv2/core/mat.hpp>
-#include <opencv2/imgcodecs.hpp>
-
 #include "net/TimeSyncClientServer.h"
 
 using namespace wpi;

diff --git a/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp b/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp
@@ -20,10 +20,6 @@
 
 #include <cstdio>
 
-#include <opencv2/core.hpp>
-#include <opencv2/core/mat.hpp>
-#include <opencv2/imgcodecs.hpp>
-
 #include "net/TimeSyncClientServer.h"
 
 using namespace wpi;

diff --git a/photon-targeting/src/test/java/net/TimeSyncTest.java b/photon-targeting/src/test/java/net/TimeSyncTest.java
@@ -31,7 +31,6 @@
 import edu.wpi.first.util.WPIUtilJNI;
 import java.io.IOException;
 import org.junit.jupiter.api.Test;
-import org.opencv.core.Core;
 import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.jni.TimeSyncClient;
 import org.photonvision.jni.TimeSyncServer;
@@ -49,15 +48,7 @@ public static void load_wpilib() {
 
         try {
             CombinedRuntimeLoader.loadLibraries(
-                    TimeSyncTest.class,
-                    "wpiutiljni",
-                    "wpimathjni",
-                    "ntcorejni",
-                    "wpinetjni",
-                    "wpiHaljni",
-                    "cscorejni",
-                    "apriltagjni");
-            CombinedRuntimeLoader.loadLibraries(TimeSyncTest.class, Core.NATIVE_LIBRARY_NAME);
+                    TimeSyncTest.class, "wpiutiljni", "wpimathjni", "wpinetjni", "ntcorejni", "wpiHaljni");
         } catch (IOException e) {
             e.printStackTrace();
         }

diff --git a/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp b/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp
@@ -30,7 +30,7 @@ TEST(TimeSyncProtocolTest, TestClient) {
   server.Start();
 
   for (int i = 0; i < 10; i++) {
-    std::this_thread::sleep_for(1000ms);
+    std::this_thread::sleep_for(50ms);
     // busywait
   }