[build] Gradle Cleanup (#1021)

Cleanup project-wide gradle configuration.

    removes native dependencies from java only projects
    increases readability
    Pass generated headers in setup instead of modifying model

build.gradle

@@ -21,6 +21,7 @@ apply from: "versioningHelper.gradle"
 
 ext {
     wpilibVersion = "2024.1.1-beta-3"
+    wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
@@ -36,16 +37,11 @@ ext {
     if (nativeName == "macx64") nativeName = "osxx86-64";
     if (nativeName == "macarm64") nativeName = "osxarm64";
     jniPlatform = nativeName
-    println("Building for platform " + jniPlatform)
+    println("Building for platform: " + jniPlatform)
+    println("Using Wpilib: " + wpilibVersion)
+    println("Using OpenCV: " + openCVversion)
 }
 
-wpilibTools.deps.wpilibVersion = wpilibVersion
-
-// Tell gradlerio what version of things to use (that we care about)
-// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
-wpi.getVersions().getOpencvVersion().convention(openCVversion);
-wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
-
 spotless {
     java {
         target fileTree('.') {

photon-core/build.gradle

@@ -1,38 +1,24 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
 import java.nio.file.Path
 
 apply from: "${rootDir}/shared/common.gradle"
 
 dependencies {
-    implementation project(':photon-targeting')
-
-    implementation "io.javalin:javalin:$javalinVersion"
-
-    implementation 'org.msgpack:msgpack-core:0.9.0'
-    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
-
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
     implementation "org.jogamp.jogl:jogl-all:$joglVersion"
-
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion:natives-linux-aarch64"
     implementation "org.jogamp.jogl:jogl-all:$joglVersion:natives-linux-aarch64"
 
     // Zip
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
-    implementation wpilibTools.deps.wpilibJava("apriltag")
-
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
 }
 
-task writeCurrentVersionJava {
+task writeCurrentVersion {
     def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
     writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
             versionString)
 }
 
-build.dependsOn writeCurrentVersionJava
+build.dependsOn writeCurrentVersion

photon-lib/build.gradle

@@ -9,54 +9,14 @@ import java.nio.file.Path
 ext {
     nativeName = "photonlib"
     includePhotonTargeting = true
+    // Include the generated Version file
+    generatedHeaders = "src/generate/native/include"
 }
 
-apply from: "${rootDir}/shared/setupBuild.gradle"
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 apply from: "${rootDir}/versioningHelper.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 {
-    implementation project(":photon-targeting")
-
-    implementation wpilibTools.deps.wpilibJava("wpiutil")
-    implementation wpilibTools.deps.wpilibJava("cameraserver")
-    implementation wpilibTools.deps.wpilibJava("cscore")
-    implementation wpilibTools.deps.wpilibJava("wpinet")
-    implementation wpilibTools.deps.wpilibJava("wpimath")
-    implementation wpilibTools.deps.wpilibJava("ntcore")
-    implementation wpilibTools.deps.wpilibJava("hal")
-    implementation wpilibTools.deps.wpilibJava("wpilibj")
-    implementation wpilibTools.deps.wpilibJava("apriltag")
-    implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
-
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
-
-    implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
-    implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
-}
-
+// Include the version file in the distributed sources
 cppHeadersZip {
     from('src/generate/native/include') {
         into '/'
@@ -66,8 +26,6 @@ cppHeadersZip {
 def photonlibFileInput = file("src/generate/photonlib.json.in")
 ext.photonlibFileOutput = file("$buildDir/generated/vendordeps/photonlib.json")
 
-def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
-
 task generateVendorJson() {
     description = "Generates the vendor JSON file"
     group = "PhotonVision"
@@ -103,18 +61,9 @@ task writeCurrentVersion {
 
 build.mustRunAfter writeCurrentVersion
 
-model {
-    components {
-        all {
-            it.sources.each {
-                it.exportedHeaders {
-                    srcDirs "src/main/native/include"
-                    srcDirs "src/generate/native/include"
-                }
-            }
-        }
-    }
+def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
 
+model {
     // Publish the vendordep json
     publishing {
         publications {

photon-server/build.gradle

@@ -6,32 +6,20 @@ plugins {
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
-evaluationDependsOn(':photon-core')
-
-mainClassName = 'org.photonvision.Main'
-
-group 'org.photonvision'
-version versionString + (project.hasProperty('pionly') ? "-raspi" : "")
-
 apply from: "${rootDir}/shared/common.gradle"
 
 dependencies {
     implementation project(':photon-core')
-    implementation project(':photon-targeting')
 
-    implementation "io.javalin:javalin:$javalinVersion"
+    // Needed for Javalin Runtime Logging
     implementation "org.slf4j:slf4j-simple:2.0.7"
+}
 
-    implementation wpilibTools.deps.wpilibJava("wpiutil")
-    implementation wpilibTools.deps.wpilibJava("wpimath")
-    implementation wpilibTools.deps.wpilibJava("wpinet")
-    implementation wpilibTools.deps.wpilibJava("hal")
-    implementation wpilibTools.deps.wpilibJava("ntcore")
-    implementation wpilibTools.deps.wpilibJava("wpilibj")
-    implementation wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+group 'org.photonvision'
+version versionString + (project.hasProperty('pionly') ? "-raspi" : "")
 
-    implementation "org.msgpack:msgpack-core:0.9.0"
-    implementation "org.msgpack:jackson-dataformat-msgpack:0.9.0"
+application {
+    mainClass = 'org.photonvision.Main'
 }
 
 shadowJar {
@@ -43,7 +31,6 @@ shadowJar {
     ]
 }
 
-
 node {
     nodeProjectDir = file("${projectDir}/../photon-client")
 }
@@ -58,6 +45,10 @@ tasks.register("buildAndCopyUI") {
     finalizedBy "copyClientUIToResources"
 }
 
+run {
+    environment "PATH_PREFIX", "../"
+}
+
 run {
     if (project.hasProperty("profile")) {
         jvmArgs=[
@@ -70,7 +61,6 @@ run {
     }
 }
 
-
 remotes {
     pi {
         host = 'photonvision.local'
@@ -119,10 +109,6 @@ task findDeployTarget {
     }
 }
 
-run {
-    environment "PATH_PREFIX", "../"
-}
-
 task deploy {
     dependsOn findDeployTarget
     dependsOn assemble