[wpical] Refactor to use WPILib libraries, modern C++ conventions, and LGPL libraries

README.md

@@ -59,8 +59,6 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
-On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms.
-
 ## Setup
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build.

shared/ceres.gradle

@@ -1,12 +1,14 @@
 nativeUtils {
     nativeDependencyContainer {
         ceres(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
-            groupId = "edu.wpi.first.thirdparty.frc2024.ceres"
+            groupId = "edu.wpi.first.thirdparty.frc2025.ceres"
             artifactId = "ceres-cpp"
             headerClassifier = "headers"
+            sourceClassifier = "sources"
             ext = "zip"
-            version = '2.2-3'
+            version = '2.2-2'
             targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
+            targetPlatforms.addAll("linuxarm32", "linuxarm64")
         }
     }
 }

upstream_utils/eigen.py

@@ -49,6 +49,7 @@ def eigen_inclusions(dp, f):
     modules = [
         "Cholesky",
         "Core",
+        "Dense",
         "Eigenvalues",
         "Geometry",
         "Householder",
@@ -62,6 +63,7 @@ def eigen_inclusions(dp, f):
         "SparseCore",
         "SparseLU",
         "SparseQR",
+        "StdVector",
         "misc",
         "plugins",
     ]

upstream_utils/mrcal_java.py

@@ -6,23 +6,6 @@
 from upstream_utils import Lib, walk_cwd_and_copy_if
 
 
-def delete_lines_by_range(file_path, start_line, end_line):
-    # Read all lines from the file
-    with open(file_path, "r") as file:
-        lines = file.readlines()
-
-    # Filter out lines that are within the specified range
-    filtered_lines = [
-        line
-        for i, line in enumerate(lines, start=1)
-        if not (start_line <= i <= end_line)
-    ]
-
-    # Write the remaining lines back to the file
-    with open(file_path, "w") as file:
-        file.writelines(filtered_lines)
-
-
 def copy_upstream_src(wpilib_root):
     wpical = os.path.join(wpilib_root, "wpical")
 
@@ -39,7 +22,7 @@ def copy_upstream_src(wpilib_root):
         os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/include"),
     )
 
-    files = walk_cwd_and_copy_if(
+    files += walk_cwd_and_copy_if(
         lambda dp, f: f.endswith("mrcal_wrapper.cpp"),
         os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/src"),
     )
@@ -48,6 +31,9 @@ def copy_upstream_src(wpilib_root):
         with open(f) as file:
             content = file.read()
             content = content.replace("#include <malloc.h>", "")
+            content = content.replace(
+                "suitesparse/cholmod_core.h", "suitesparse/cholmod.h"
+            )
             content = content.replace(
                 "// mrcal_point3_t *c_observations_point_pool = observations_point;",
                 "mrcal_point3_t *c_observations_point_pool = observations_point;",

wpical/.styleguide

@@ -9,6 +9,7 @@ cppSrcFileInclude {
 }
 
 generatedFileExclude {
+  src/main/native/assets/
   src/main/native/resources/
   src/main/native/thirdparty/
   src/main/native/win/wpical.ico
@@ -20,6 +21,7 @@ repoRootNameOverride {
 }
 
 includeOtherLibs {
+  ^Eigen/
   ^GLFW
   ^ceres/
   ^fmt/
@@ -30,7 +32,7 @@ includeOtherLibs {
   ^mrcal_wrapper\.h$
   ^opencv2\.h$
   ^portable-file-dialogs\.h$
-  ^tagpose\.h$
+  ^units/
   ^wpi/
   ^wpigui
 }

wpical/CMakeLists.txt

@@ -79,7 +79,7 @@ else()
         -Wno-missing-field-initializers
     )
 endif()
-target_compile_options(wpical PRIVATE ${compile_flags})
+set_target_properties(${wpical_thirdparty_src} PROPERTIES COMPILE_FLAGS ${compile_flags})
 
 find_package(OpenCV REQUIRED)
 find_package(Ceres CONFIG REQUIRED)

wpical/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64')) {
+if (project.hasProperty('onlylinuxathena')) {
     return;
 }
 
@@ -120,7 +120,7 @@ nativeUtils.platformConfigs.each {
         it.cppCompiler.args.add("-fpermissive")
     }
 }
-def testResources = "\"$rootDir/wpical/src/main/native/resources\"".replace("\\", "/")
+def testResources = "\"$rootDir/wpical/src/main/native/assets\"".replace("\\", "/")
 model {
     components {
         "${nativeName}"(NativeExecutableSpec) {
@@ -152,16 +152,18 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name.startsWith("linuxarm")) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     it.buildable = false
                     return
                 }
+                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
+                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                 lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                 lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
-                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
                 nativeUtils.useRequiredLibrary(it, 'ceres')
                 nativeUtils.useRequiredLibrary(it, 'opencv_static')
+                it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT'
                 it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
                 if (it.targetPlatform.operatingSystem.isWindows()) {
                     it.cppCompiler.define('GLOG_DEPRECATED', '__declspec(deprecated)')
@@ -175,7 +177,7 @@ model {
                 } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
                     it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
                 } else {
-                    it.linker.args << '-lX11' << "-lgfortran"
+                    it.linker.args << '-lX11'
                     if (it.targetPlatform.name.startsWith('linuxarm')) {
                         it.linker.args << '-lGL'
                     }
@@ -203,16 +205,18 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name.startsWith("linuxarm")) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     it.buildable = false
                     return
                 }
+                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
+                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                 lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                 lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
-                lib project: ':apriltag', library: 'apriltag', linkage: 'static'
                 nativeUtils.useRequiredLibrary(it, 'ceres')
                 nativeUtils.useRequiredLibrary(it, 'opencv_static')
+                it.cppCompiler.define 'OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT'
                 it.cppCompiler.define('PROJECT_ROOT_PATH', testResources)
                 it.cppCompiler.define 'GLOG_USE_GLOG_EXPORT'
                 if (it.targetPlatform.name == nativeUtils.wpi.platforms.windowsarm64) {
@@ -236,7 +240,7 @@ model {
                 } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
                     it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore' << '-framework' << 'Accelerate'
                 } else {
-                    it.linker.args << '-lX11' << '-lgfortran'
+                    it.linker.args << '-lX11'
                     if (it.targetPlatform.name.startsWith('linuxarm')) {
                         it.linker.args << '-lGL'
                     }

wpical/publish.gradle

@@ -42,6 +42,10 @@ model {
                                 into '/'
                             }
 
+                            from(file("$rootDir/wpical/WPICalThirdPartyNotices.txt")) {
+                                into '/'
+                            }
+
                             if (binary.targetPlatform.operatingSystem.isWindows()) {
                                 def exePath = binary.executable.file.absolutePath
                                 exePath = exePath.substring(0, exePath.length() - 4)