build.gradle

plugins {
  id 'cpp'
  id 'java'
  id 'google-test'
  id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
  id 'edu.wpi.first.NativeUtils' version '2024.7.2'
  id 'edu.wpi.first.GradleJni' version '1.1.0'
  id 'edu.wpi.first.GradleVsCode' version '2.1.0'
}

repositories {
  mavenCentral()
}
if (project.hasProperty('releaseMode')) {
  wpilibRepositories.addAllReleaseRepositories(project)
} else {
  wpilibRepositories.addAllDevelopmentRepositories(project)
}

// Apply C++ configuration
apply from: 'config.gradle'

// Apply Java configuration
dependencies {
    implementation 'edu.wpi.first.cscore:cscore-java:2024.+'
    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2024.+'
    implementation 'edu.wpi.first.ntcore:ntcore-java:2024.+'
    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.+'
    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2024.+'
    implementation 'edu.wpi.first.wpimath:wpimath-java:2024.+'
    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2024.+'
    implementation 'edu.wpi.first.hal:hal-java:2024.+'
    implementation "org.ejml:ejml-simple:0.43.1"
    implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
    implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
    implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
    implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-2'
}

// Set up exports properly
nativeUtils {
  exportsConfigs {
    // Main library is just default empty. This will export everything
    Vendor {
    }
  }
  privateExportsConfigs {
    // Only export explicit symbols from driver library
    VendorDriver {
      exportsFile = project.file("src/main/driver/symbols.txt")
    }
  }
}

model {
  components {
    Vendor(NativeLibrarySpec) {
      sources {
        cpp {
          source {
            srcDirs 'src/main/native/cpp'
            include '**/*.cpp'
          }
          exportedHeaders {
            srcDirs 'src/main/native/include'
          }
        }
      }
      binaries.all {
        lib library: 'VendorDriver', linkage: 'shared'
      }
      nativeUtils.useRequiredLibrary(it, 'wpilib_shared')
    }

    VendorDriver(JniNativeLibrarySpec) {
      enableCheckTask true
      javaCompileTasks << compileJava
      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
      // Leave these for future proofing
      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
      sources {
        cpp {
          source {
            srcDirs 'src/main/driver/cpp'
            include '**/*.cpp'
          }
          exportedHeaders {
            srcDirs 'src/main/driver/include'
          }
        }
      }

      nativeUtils.useRequiredLibrary(it, "driver_shared")
    }
  }
  testSuites {
    VendorTest {
        sources.cpp {
            source {
                srcDir 'src/test/native/cpp'
                include '**/*.cpp'
            }
        }

        binaries.all {
          lib library: 'VendorDriver', linkage: 'shared'
        }

        nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
    }

    VendorDriverTest {
        sources.cpp {
            source {
                srcDir 'src/test/driver/cpp'
                include '**/*.cpp'
            }
        }

        nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
    }
  }
}

apply from: 'publish.gradle'

wrapper {
  gradleVersion '8.5'
}