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build.gradle
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build.gradle
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plugins {
id 'cpp'
id 'java'
id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
id 'edu.wpi.first.NativeUtils' version '2024.6.1'
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:2025.+'
implementation 'edu.wpi.first.cameraserver:cameraserver-java:2025.+'
implementation 'edu.wpi.first.ntcore:ntcore-java:2025.+'
implementation 'edu.wpi.first.wpilibj:wpilibj-java:2025.+'
implementation 'edu.wpi.first.wpiutil:wpiutil-java:2025.+'
implementation 'edu.wpi.first.wpimath:wpimath-java:2025.+'
implementation 'edu.wpi.first.wpiunits:wpiunits-java:2025.+'
implementation 'edu.wpi.first.hal:hal-java:2025.+'
implementation "org.ejml:ejml-simple:0.43.1"
implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
// 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
URCL {
}
}
privateExportsConfigs {
// Only export explicit symbols from driver library
URCLDriver {
exportsFile = project.file("src/main/driver/symbols.txt")
}
}
}
model {
components {
URCL(NativeLibrarySpec) {
sources {
cpp {
source {
srcDirs 'src/main/native/cpp'
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/main/native/include'
}
}
}
binaries.all {
lib library: 'URCLDriver', linkage: 'shared'
}
nativeUtils.useRequiredLibrary(it, 'wpilib_shared')
}
URCLDriver(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")
}
}
}
apply from: 'publish.gradle'
wrapper {
gradleVersion '8.4'
}