Copy lots of JNI stuff from allwpilib

PhotonVision · Dec 23, 2023 · 4a7de52 · 4a7de52
1 parent 0356eee
commit 4a7de52
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Showing 11 changed files with 196 additions and 7 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,7 @@
 plugins {
     id "com.diffplug.spotless" version "6.22.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
+    id 'edu.wpi.first.GradleJni' version '1.1.0'
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
@@ -90,3 +91,8 @@ spotless {
 wrapper {
     gradleVersion '8.4'
 }
+
+import edu.wpi.first.toolchain.NativePlatforms
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
@@ -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"
 
+ext {
+    nativeName = "photoncore"
+
+    main_native_libs = [
+        "opencv_shared"
+    ]
+
+    test_native_libs = [
+        "opencv_static"
+    ]
+
+    dev_native_libs = [
+        "opencv_static",
+    ]
+}
+
+def sharedCvConfigs = [photoncore: []]
+def staticCvConfigs = [:]
+
+
 dependencies {
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
@@ -22,3 +46,5 @@ task writeCurrentVersion {
 }
 
 build.dependsOn writeCurrentVersion
+
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
diff --git a/photon-core/src/dev/native/cpp/devmain.cpp b/photon-core/src/dev/native/cpp/devmain.cpp
@@ -0,0 +1,16 @@
+#include "test.h"
+
+#include <opencv2/core.hpp>
+#include <opencv2/core/mat.hpp>
+#include <opencv2/imgcodecs.hpp>
+
+#include <stdio.h>
+
+int main() {
+
+    cv::Mat mat = cv::imread("/home/matt/Documents/GitHub/photonvision/test-resources/testimages/2022/WPI/FarLaunchpad13ft10in.png");
+
+    printf("DevMain! mat size %i %i\n", mat.rows, mat.cols);
+
+    return 1;
+}
diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java
@@ -116,7 +116,7 @@ public static boolean isSupported() {
      *
      * @param width Camera video mode width in pixels
      * @param height Camera video mode height in pixels
-     * @param fps Camera video mode FPS
+     * @param rotation Asdf
      * @return success of creating a camera object
      */
     public static native boolean createCamera(int width, int height, int rotation);

diff --git a/photon-core/src/main/native/cpp/jni/TestJni.cpp b/photon-core/src/main/native/cpp/jni/TestJni.cpp
@@ -0,0 +1,8 @@
+#include <jni.h>
+
+extern "C" {
+    JNIEXPORT jint JNICALL
+    some_native_function() {
+        return 0;
+    }
+}
diff --git a/photon-core/src/main/native/cpp/test.cpp b/photon-core/src/main/native/cpp/test.cpp
@@ -0,0 +1,16 @@
+#include "test.h"
+
+#include <opencv2/core.hpp>
+#include <opencv2/core/mat.hpp>
+#include <opencv2/imgcodecs.hpp>
+
+#include <stdio.h>
+
+int some_test() {
+
+    cv::Mat mat = cv::imread("/home/matt/Documents/GitHub/photonvision/test-resources/testimages/2022/WPI/FarLaunchpad13ft10in.png");
+
+    printf("mat size %i %i\n", mat.rows, mat.cols);
+
+    return 1;
+}
diff --git a/photon-core/src/main/native/include/test.h b/photon-core/src/main/native/include/test.h
@@ -0,0 +1,2 @@
+#pragma once
+int some_test();
diff --git a/photon-core/src/test/native/cpp/devmain.cpp b/photon-core/src/test/native/cpp/devmain.cpp
@@ -0,0 +1,7 @@
+#include "test.h"
+#include <stdio.h>
+
+int main(int argc, char** argv) {
+    printf("hello!\n");
+    return some_test();
+}
diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle
@@ -11,6 +11,21 @@ ext {
     includePhotonTargeting = true
     // Include the generated Version file
     generatedHeaders = "src/generate/native/include"
+
+    test_native_libs = [
+        "cscore_shared",
+        "cameraserver_shared",
+        "wpilib_executable_shared",
+        "googletest_static",
+        "apriltag_shared",
+        "opencv_shared",
+    ]
+
+    main_native_libs = [
+        "wpilib_shared", "apriltag_shared", "opencv_shared"
+    ]
+
+    dev_native_libs = []
 }
 
 apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"

diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle
@@ -4,6 +4,21 @@ plugins {
 
 ext {
     nativeName = "photontargeting"
+
+    main_native_libs = [
+        "wpilib_shared", "apriltag_shared", "opencv_shared"
+    ]
+
+    test_native_libs = [
+        "cscore_shared",
+        "cameraserver_shared",
+        "wpilib_executable_shared",
+        "googletest_static",
+        "apriltag_shared",
+        "opencv_shared",
+    ]
+
+    dev_native_libs = []
 }
 
 apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
diff --git a/shared/javacpp/setupBuild.gradle b/shared/javacpp/setupBuild.gradle
@@ -1,6 +1,7 @@
 apply plugin: 'cpp'
 apply plugin: 'google-test-test-suite'
 apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: 'edu.wpi.first.GradleJni'
 
 apply from: "${rootDir}/shared/config.gradle"
 apply from: "${rootDir}/shared/javacommon.gradle"
@@ -60,6 +61,86 @@ model {
             nativeUtils.useRequiredLibrary(it, "wpilib_shared")
             nativeUtils.useRequiredLibrary(it, "apriltag_shared")
             nativeUtils.useRequiredLibrary(it, "opencv_shared")
+            main_native_libs.each { name ->
+                nativeUtils.useRequiredLibrary(it, name)
+            }
+        }
+        // By default, a development executable will be generated. This is to help the case of
+        // testing specific functionality of the library.
+        "${nativeName}Dev"(NativeExecutableSpec) {
+            targetBuildTypes 'debug'
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/dev/native/cpp'
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDir 'src/main/native/include'
+                        if (project.hasProperty('generatedHeaders')) {
+                            srcDir generatedHeaders
+                        }
+                    }
+                }
+            }
+            binaries.all {
+                lib library: nativeName, linkage: 'shared'
+                it.tasks.withType(CppCompile) {
+                    // it.dependsOn generateProto
+                }
+                if (project.hasProperty('exeSplitSetup')) {
+                    exeSplitSetup(it)
+                }
+            }
+            dev_native_libs.each { name ->
+                nativeUtils.useRequiredLibrary(it, name)
+            }
+        }
+        "${nativeName}JNI"(JniNativeLibrarySpec) {
+            baseName = nativeName + 'jni'
+
+            enableCheckTask !project.hasProperty('skipJniCheck')
+            javaCompileTasks << compileJava
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
+
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp'
+                        if (project.hasProperty('generatedSources')) {
+                            srcDir generatedSources
+                        }
+                        include '**/jni/**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDir 'src/main/native/include'
+                        if (project.hasProperty('generatedHeaders')) {
+                            srcDir generatedHeaders
+                        }
+                        include '**/*.h'
+                    }
+                }
+            }
+
+            binaries.all {
+                if (it instanceof StaticLibraryBinarySpec) {
+                    it.buildable = false
+                    return
+                }
+                lib library: "${nativeName}", linkage: 'shared'
+                if (!project.hasProperty('noWpiutil')) {
+                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                }
+                if (project.hasProperty('jniSplitSetup')) {
+                    jniSplitSetup(it)
+                }
+            }
+
+            if(project.hasProperty("jni_native_libs")) jni_native_libs.each { name ->
+                nativeUtils.useRequiredLibrary(it, name)
+            }
         }
     }
     testSuites {
@@ -88,12 +169,9 @@ 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")
+            test_native_libs.each { name ->
+                nativeUtils.useRequiredLibrary(it, name)
+            }
         }
     }
 }