Fix windows builds

PhotonVision · Sep 20, 2024 · 8cd79df · 8cd79df
1 parent a6856b6
commit 8cd79df
Show file tree

Hide file tree

Showing 4 changed files with 38 additions and 33 deletions.
diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle
@@ -108,10 +108,10 @@ model {
             }
 
             binaries.all {
-                // lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
-                // lib library: nativeName
+                lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                lib library: nativeName
 
-                // nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+                nativeUtils.useRequiredLibrary(it, "wpilib_shared")
             }
         }
     }
@@ -255,7 +255,10 @@ task installPhotonlibpyNative(type: Copy) {
     into("$projectDir/py/photonlibpy")
 
     from "$projectDir/build/libs/photonlib/shared/$jniPlatform/release/libphotonlib.so"
+    from "$projectDir/build/libs/photonlib/shared/$jniPlatform/release/photonlib.dll"
+
     for (lib in [
+                "photontargeting.dll",
                 "cameraserver.dll",
                 "cscore.dll",
                 "opencv_core480.dll",
@@ -264,7 +267,7 @@ task installPhotonlibpyNative(type: Copy) {
                 "opencv_imgcodecs480.dll",
                 "opencv_flann480.dll",
                 "opencv_imgproc480.dll",
-                "photontargeting.so",
+
                 "libcameraserver.so",
                 "libcscore.so",
                 "libopencv_core.so.4.8",

diff --git a/photon-lib/py/photonlibpy/__init__.py b/photon-lib/py/photonlibpy/__init__.py
@@ -31,4 +31,6 @@
 import robotpy_apriltag
 
 # and now our extension module
+import os
+os.add_dll_directory(os.path.dirname(os.path.realpath(__file__)))
 from ._photonlibpy import *
diff --git a/photon-lib/py/photonlibpy/_photonlibpy.pyd b/photon-lib/py/photonlibpy/_photonlibpy.pyd
diff --git a/photon-lib/src/main/pybindings/cpp/photonlib_nanobind.cpp b/photon-lib/src/main/pybindings/cpp/photonlib_nanobind.cpp
@@ -22,8 +22,8 @@
  * SOFTWARE.
  */
 
-// #include <fmt/format.h>
-// #include "photon/PhotonCamera.h"
+#include <fmt/format.h>
+#include "photon/PhotonCamera.h"
 
 // actual nanobind include
 #include <nanobind/nanobind.h>
@@ -36,34 +36,34 @@ NB_MODULE(_photonlibpy, m) {
 
   m.doc() = "C++ bindings for photonlib";
 
-//   nb::class_<photon::PhotonPipelineMetadata>(m, "PhotonPipelineMetadata")
-//       .def_ro("sequenceID", &photon::PhotonPipelineMetadata::sequenceID)
-//       .def_ro("captureTimestampMicros",
-//               &photon::PhotonPipelineMetadata::captureTimestampMicros)
-//       .def_ro("publishTimestampMicros",
-//               &photon::PhotonPipelineMetadata::publishTimestampMicros);
+  nb::class_<photon::PhotonPipelineMetadata>(m, "PhotonPipelineMetadata")
+      .def_ro("sequenceID", &photon::PhotonPipelineMetadata::sequenceID)
+      .def_ro("captureTimestampMicros",
+              &photon::PhotonPipelineMetadata::captureTimestampMicros)
+      .def_ro("publishTimestampMicros",
+              &photon::PhotonPipelineMetadata::publishTimestampMicros);
 
-//   nb::class_<photon::PhotonTrackedTarget>(m, "PhotonTrackedTarget")
-//       .def_ro("yaw", &photon::PhotonTrackedTarget::yaw)
-//       .def_ro("pitch", &photon::PhotonTrackedTarget::pitch)
-//       // String representation
-//       .def("__repr__", [](const photon::PhotonTrackedTarget& t) {
-//         std::string s;
-//         fmt::format_to(std::back_inserter(s),
-//                        "PhotonTrackedTarget<yaw={},pitch={}>", t.yaw, t.pitch);
-//         return s;
-//       });
-//   nb::class_<photon::MultiTargetPNPResult>(m, "MultiTargetPNPResult")
-//       .def_ro("fiducialIDsUsed", &photon::MultiTargetPNPResult::fiducialIDsUsed)
-//   ;
+  nb::class_<photon::PhotonTrackedTarget>(m, "PhotonTrackedTarget")
+      .def_ro("yaw", &photon::PhotonTrackedTarget::yaw)
+      .def_ro("pitch", &photon::PhotonTrackedTarget::pitch)
+      // String representation
+      .def("__repr__", [](const photon::PhotonTrackedTarget& t) {
+        std::string s;
+        fmt::format_to(std::back_inserter(s),
+                       "PhotonTrackedTarget<yaw={},pitch={}>", t.yaw, t.pitch);
+        return s;
+      });
+  nb::class_<photon::MultiTargetPNPResult>(m, "MultiTargetPNPResult")
+      .def_ro("fiducialIDsUsed", &photon::MultiTargetPNPResult::fiducialIDsUsed)
+  ;
 
-//   nb::class_<photon::PhotonPipelineResult>(m, "PhotonPipelineResult")
-//       .def_ro("metadata", &photon::PhotonPipelineResult::metadata)
-//       .def_ro("targets", &photon::PhotonPipelineResult::targets)
-//       .def_ro("multitagResult", &photon::PhotonPipelineResult::multitagResult);
+  nb::class_<photon::PhotonPipelineResult>(m, "PhotonPipelineResult")
+      .def_ro("metadata", &photon::PhotonPipelineResult::metadata)
+      .def_ro("targets", &photon::PhotonPipelineResult::targets)
+      .def_ro("multitagResult", &photon::PhotonPipelineResult::multitagResult);
 
-//   nb::class_<photon::PhotonCamera>(m, "PhotonCamera")
-//       .def(nb::init<const std::string&>())
-//       .def("GetDriverMode", &photon::PhotonCamera::GetDriverMode)
-//       .def("GetLatestResult", &photon::PhotonCamera::GetLatestResult);
+  nb::class_<photon::PhotonCamera>(m, "PhotonCamera")
+      .def(nb::init<const std::string&>())
+      .def("GetDriverMode", &photon::PhotonCamera::GetDriverMode)
+      .def("GetLatestResult", &photon::PhotonCamera::GetLatestResult);
 }