[photon-targeting] Move C++ targeting classes to photon-targetting (#…

…1009)

* add classes to targeting and update gradle

* rename me

* Finish cleanup

* Formatting fixes

* just use common.gradle

* Update build.gradle

* Update config.gradle

* remove typo

* simplify

* Add Packet Headers

* move simulation classes into simulation folder

* draw in dependency

* fix

* Everything working minus tests cause im lazy

* formatting fixes

REMEMBER TO REMOVE UNUSED IMPORTS, IM JUST TOO LAZY TO CHECK RN

* move packet test to targeting

* Formatting fixes

* remove TargetCorner from c++

im not 100% sure but just doing std::pair<double, double> is sufficient and shouldnt conflict with protobuf

* think i added packet

* fix namespace issue

* organize imports in photon-targeting

* Formatting fixes

* remove ctors

* fix typo

* Add PNP and Multitag packet tests

* revert TargetCorner class

* Add Test placeholders

* remove annoying print

* Reorganize build and publish process

channeling inner Thad

* add targeting as flag

* Update config.gradle

* fix issue with platform binaries not building

* Update photonlib.json.in

casing still needs to be checked

* add minimum level back

* add back UTF-8 encoding of javadoc

* simplify publish model for photon-lib

* fix windows symbol generation

* formatting fixes

* move task from main gradle to config

* Update config.gradle

photon-lib/build.gradle

@@ -1,111 +1,73 @@
 plugins {
-    id "java"
-    id 'cpp'
-    id "google-test-test-suite"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
+apply plugin: "edu.wpi.first.NativeUtils"
+
 import java.nio.file.Path
 
-apply plugin: "edu.wpi.first.NativeUtils"
+ext {
+    nativeName = "photonlib"
+    includePhotonTargeting = true
+}
 
-apply from: "${rootDir}/shared/config.gradle"
+apply from: "${rootDir}/shared/setupBuild.gradle"
 apply from: "${rootDir}/versioningHelper.gradle"
 
-test {
-    useJUnitPlatform()
-}
 
-java {
-    sourceCompatibility = JavaVersion.VERSION_11
-    targetCompatibility = JavaVersion.VERSION_11
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
+def nativeConfigName = 'wpilibNatives'
+def nativeConfig = configurations.create(nativeConfigName)
+
+def nativeTasks = wpilibTools.createExtractionTasks {
+    configurationName = nativeConfigName
 }
 
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
-println("Building for WPILib ${wpilibTools.deps.wpilibVersion}")
+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())
 
-// Apply Java configuration
 dependencies {
     implementation project(":photon-targeting")
 
-    // WPILib deps
     implementation wpilibTools.deps.wpilibJava("wpiutil")
     implementation wpilibTools.deps.wpilibJava("cameraserver")
     implementation wpilibTools.deps.wpilibJava("cscore")
-    implementation wpilibTools.deps.wpilibJava("wpimath")
     implementation wpilibTools.deps.wpilibJava("wpinet")
-    implementation wpilibTools.deps.wpilibJava("hal")
+    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())
 
-    // Jackson
     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()
-
-    // Junit
-    testImplementation wpilibTools.deps.wpilibJava("cscore")
-    testImplementation("org.junit.jupiter:junit-jupiter-api:5.8.2")
-    testImplementation("org.junit.jupiter:junit-jupiter-params:5.8.2")
-    testRuntimeOnly("org.junit.jupiter:junit-jupiter-engine:5.8.2")
+    implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
 }
 
-// Set up exports properly
-nativeUtils {
-    exportsConfigs {
-        // Main library is just default empty. This will export everything
-        Photon {
-        }
-    }
-}
-
-model {
-    components {
-        Photon(NativeLibrarySpec) {
-            sources {
-                cpp {
-                    source {
-                        srcDirs "src/main/native/cpp"
-                        include "**/*.cpp"
-                    }
-                    exportedHeaders {
-                        srcDirs "src/main/native/include"
-                        srcDirs "src/generate/native/include"
-                    }
-                }
-            }
-            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
-            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
-            nativeUtils.useRequiredLibrary(it, "opencv_shared")
-        }
-    }
-    testSuites {
-        cppTest(GoogleTestTestSuiteSpec) {
-            testing $.components.Photon
-
-            sources.cpp {
-                source {
-                    srcDir "src/test/native/cpp"
-                    include "**/*.cpp"
-                }
-            }
-
-            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
-            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
-            nativeUtils.useRequiredLibrary(it, "googletest_static")
-            nativeUtils.useRequiredLibrary(it, "opencv_shared")
-        }
+cppHeadersZip {
+    from('src/generate/native/include') {
+        into '/'
     }
 }
 
 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"
@@ -141,29 +103,28 @@ task writeCurrentVersion {
 
 build.mustRunAfter writeCurrentVersion
 
-tasks.withType(Javadoc) {
-    options.encoding = 'UTF-8'
-}
-
-apply from: "publish.gradle"
-
-def testNativeConfigName = 'wpilibTestNatives'
-def testNativeConfig = configurations.create(testNativeConfigName)
+model {
+    components {
+        all {
+            it.sources.each {
+                it.exportedHeaders {
+                    srcDirs "src/main/native/include"
+                    srcDirs "src/generate/native/include"
+                }
+            }
+        }
+    }
 
-def folder = project.layout.buildDirectory.dir('NativeTest')
+    // Publish the vendordep json
+    publishing {
+        publications {
+            vendorjson(MavenPublication) {
+                artifact vendorJson
 
-def testNativeTasks = wpilibTools.createExtractionTasks {
-    taskPostfix = "Test"
-    configurationName = testNativeConfigName
-    rootTaskFolder.set(folder)
+                artifactId = "${nativeName}-json"
+                groupId = "org.photonvision"
+                version "1.0"
+            }
+        }
+    }
 }
-
-testNativeTasks.addToSourceSetResources(sourceSets.test)
-
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
-testNativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())