Create photon-core JNI

README.md

@@ -28,6 +28,7 @@ Note that these are case sensitive!
     * x86
 - `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
 - `-Pprofile`: enables JVM profiling
+- `doJniCheck`: Enables checking JNI symbol matching between Java/C++
 
 ## Building
 
@@ -59,6 +60,10 @@ To run them, use the commands listed below. Photonlib must first be published to
 ~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
 ```
 
+## Installing cross-toolchains
+
+Install cross toolchains using `./gradlew installArm64Toolchain`/`./gradlew installRoboRioToolchain`. Needed for building for arm64 or rio targets.
+
 
 ## Acknowledgments
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.

build.gradle

@@ -1,9 +1,12 @@
 plugins {
+    id "java"
+    id "cpp"
     id "com.diffplug.spotless" version "6.22.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     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'
+    id 'edu.wpi.first.GradleJni' version '1.1.0'
 }
 
 allprojects {
@@ -90,3 +93,8 @@ spotless {
 wrapper {
     gradleVersion '8.4'
 }
+
+import edu.wpi.first.toolchain.NativePlatforms
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}

photon-core/build.gradle

@@ -1,7 +1,27 @@
+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_shared"]
+
+    dev_native_libs = [
+        "opencv_shared",
+    ]
+}
+
+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 +42,119 @@ task writeCurrentVersion {
 }
 
 build.dependsOn writeCurrentVersion
+
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+
+apply plugin: 'edu.wpi.first.GradleJni'
+
+def nativeOutputDir = file("$buildDir/${nativeName}_outs")
+println("Saving to $nativeOutputDir")
+
+model {
+    components {
+        "${nativeName}JNI"(JniNativeLibrarySpec) {
+            baseName = nativeName + 'jni'
+
+            enableCheckTask project.hasProperty('doJniCheck')
+            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/jni'
+                        if (project.hasProperty('generatedSources')) {
+                            srcDir generatedSources
+                        }
+                        include '**/*.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: 'static'
+                if (project.hasProperty('jniSplitSetup')) {
+                    jniSplitSetup(it)
+                }
+            }
+
+            if(project.hasProperty("jni_native_libs")) jni_native_libs.each { name ->
+                nativeUtils.useRequiredLibrary(it, name)
+            }
+
+            appendDebugPathToBinaries(binaries)
+        }
+    }
+
+    tasks {
+        def ts = $.components
+        project.tasks.register('copyPhotonCoreNative') { testTask->
+            // println("Hello!")
+            def systemArch = wpilibTools.getCurrentPlatform().platformName
+            def sharedLibs = []
+            ts.each {
+                // println("=========")
+                // println it.baseName
+                it.binaries.each {
+                    def arch = it.targetPlatform.name
+                    // println("checking $arch against $systemArch")
+                    if (arch == systemArch && it.buildType.name == 'release' && it instanceof SharedLibraryBinarySpec) {
+                        testTask.dependsOn it.tasks.build
+
+                        println "Selecting ${it}"
+                        // println it.tasks
+                        // println it.getSharedLibraryFile()
+                        // println it.tasks.build.class
+                        // def f = it.sharedLibraryFile.parentFile;
+
+
+                        sharedLibs << it
+                        testTask.dependsOn it
+                    }
+                }
+            }
+
+            doLast {
+                sharedLibs.each { so ->
+                    def arch = so.targetPlatform.architecture.name
+                    def os = so.targetPlatform.operatingSystem.name
+
+                    copy {
+                        from so.sharedLibraryFile
+                        // We know all should be shared libs only at this point
+                        into file(nativeOutputDir.path + "/${nativeUtils.getPlatformPath(so)}/shared")
+                    }
+                }
+            }
+        }
+    }
+}
+
+// yay misdirection
+// tasks.register('testDesktop') {
+//     dependsOn copyPhotonCoreNative
+// }
+// jar.dependsOn tasks.named('testDesktop')
+
+// jar {
+//     from nativeOutputDir
+//     println("Adding to JAR $nativeOutputDir")
+// }
+
+
+// Make sure our files get added to resources, and that build happens before JAR does
+// sourceSets.main.resources.srcDirs += nativeOutputDir
+// println sourceSets.main.resources.srcDirs

photon-core/src/dev/native/cpp/devmain.cpp

@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include <cstdio>
+
+// Includes to test opencv linkage
+#include <opencv2/core.hpp>
+#include <opencv2/core/mat.hpp>
+#include <opencv2/imgcodecs.hpp>
+
+#include "test.h"
+
+int main() {
+  // Just empty to check library linking happens
+
+  return 1;
+}

photon-core/src/main/java/org/photonvision/jni/CalibrationHelper.java

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.jni;
+
+public class CalibrationHelper {
+    public static class CalResult {}
+
+    public static native long Create(int width, int height, long overlayMatPtr, double tolerance);
+
+    public static native long Destroy();
+
+    public static native CalResult Detect(long inputImg, long outputImg);
+
+    public static void main(String[] args) {
+        System.load(
+                "/home/matt/Documents/GitHub/photonvision/photon-core/build/libs/photoncoreJNI/shared/linuxx86-64/release/libphotoncorejni.so");
+        System.out.println(Create(1, 2, 3, 4));
+    }
+}

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);

photon-core/src/main/native/cpp/test.cpp

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include "test.h"
+
+#include <cstdio>
+
+#include <opencv2/core.hpp>
+#include <opencv2/core/mat.hpp>
+#include <opencv2/imgcodecs.hpp>
+
+int some_test() {
+  cv::Mat mat = cv::imread(
+      "/home/matt/Documents/GitHub/photonvision/test-resources/testimages/2022/"
+      "WPI/FarLaunchpad13ft10in.png");
+
+  std::printf("mat size %i %i\n", mat.rows, mat.cols);
+
+  return 1;
+}

photon-core/src/main/native/include/test.h

@@ -0,0 +1,19 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+int some_test();

photon-core/src/main/native/jni/CalibrationHelperJni.cpp

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include <org_photonvision_jni_CalibrationHelper.h>
+
+extern "C" {
+
+/*
+ * Class:     org_photonvision_jni_CalibrationHelper
+ * Method:    Create
+ * Signature: (IIJD)J
+ */
+JNIEXPORT jlong JNICALL
+Java_org_photonvision_jni_CalibrationHelper_Create
+  (JNIEnv*, jclass, jint, jint, jlong, jdouble)
+{
+  return 0;
+}
+
+}  // extern "C"

photon-core/src/main/native/jni/TestJni.cpp

@@ -0,0 +1,23 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include <jni.h>
+#include "test.h"
+
+extern "C" {
+JNIEXPORT jint JNICALL some_native_function(void) { return some_test(); }
+}  // extern "C"