From 63120aee6915749b1f3417d7a7575d775ddf1607 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Fri, 11 Jan 2019 13:13:15 -0800
Subject: [PATCH] Build wpilibc and wpilibj and include in image (#54)

This is mainly useful for Shuffleboard and SmartDashboard classes.
---
 deps/03-build.sh                                  | 1 +
 deps/04-copy.sh                                   | 3 +++
 deps/examples/cpp-multiCameraServer/Makefile      | 2 +-
 deps/examples/java-multiCameraServer/build.gradle | 2 ++
 stage2/01-sys-tweaks/01-run.sh                    | 3 +++
 5 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/deps/03-build.sh b/deps/03-build.sh
index 0b42cd6..80a4482 100755
--- a/deps/03-build.sh
+++ b/deps/03-build.sh
@@ -93,6 +93,7 @@ popd
 # always use the release version of opencv jar/jni
 build_wpilib () {
     cmake ../../allwpilib \
+	-DWITHOUT_ALLWPILIB=OFF \
         -DCMAKE_BUILD_TYPE=$1 \
         -DCMAKE_TOOLCHAIN_FILE=${PWD}/../../02-extract/arm-pi-gnueabihf.toolchain.cmake \
         -DCMAKE_MODULE_PATH=${PWD}/../../02-extract/cmake-modules \
diff --git a/deps/04-copy.sh b/deps/04-copy.sh
index 2b73bc1..f86cce7 100755
--- a/deps/04-copy.sh
+++ b/deps/04-copy.sh
@@ -66,6 +66,7 @@ sh -c 'cd pynetworktables && tar czf - networktables ntcore' > ${DEST}/pynetwork
 
 sh -c 'cd 03-build/allwpilib-build/lib && tar czf - lib*' > ${DEST}/wpilib.tar.gz
 sh -c 'cd 03-build/allwpilib-build-debug/lib && tar czf - lib*' > ${DEST}/wpilib-debug.tar.gz
+sh -c 'cd 03-build/allwpilib-build/hal/gen && tar czf - .' > ${DEST}/hal-gen-include.tar.gz
 
 cp 03-build/allwpilib-build/jar/*.jar ${DEST}/
 
@@ -73,5 +74,7 @@ sh -c 'cd allwpilib/wpiutil/src/main/native/include && tar czf - uv.h uv wpi' >
 sh -c 'cd allwpilib/cscore/src/main/native/include && tar czf - .' > ${DEST}/cscore-include.tar.gz
 sh -c 'cd allwpilib/ntcore/src/main/native/include && tar czf - .' > ${DEST}/ntcore-include.tar.gz
 sh -c 'cd allwpilib/cameraserver/src/main/native/include && tar czf - cameraserver vision' > ${DEST}/cameraserver-include.tar.gz
+sh -c 'cd allwpilib/hal/src/main/native/include && tar czf - .' > ${DEST}/hal-include.tar.gz
+sh -c 'cd allwpilib/wpilibc/src/main/native/include && tar czf - frc' > ${DEST}/wpilibc-include.tar.gz
 
 sh -c 'cd 03-build/allwpilib-static/bin && tar czf - cscore_* netconsoleTee*' > ${DEST}/wpilib-bin.tar.gz
diff --git a/deps/examples/cpp-multiCameraServer/Makefile b/deps/examples/cpp-multiCameraServer/Makefile
index 2e6efbf..bf3af67 100644
--- a/deps/examples/cpp-multiCameraServer/Makefile
+++ b/deps/examples/cpp-multiCameraServer/Makefile
@@ -12,7 +12,7 @@ clean:
 	rm ${EXE} *.o
 
 ${EXE}: main.o
-	${CXX} -pthread -o $@ $< -L/usr/local/frc/lib -lcameraserver -lcscore -lntcore -lwpiutil
+	${CXX} -pthread -o $@ $< -L/usr/local/frc/lib -lwpilibc -lwpiHal -lcameraserver -lcscore -lntcore -lwpiutil
 
 .cpp.o:
 	${CXX} -pthread -O -c -o $@ -I/usr/local/frc/include $<
diff --git a/deps/examples/java-multiCameraServer/build.gradle b/deps/examples/java-multiCameraServer/build.gradle
index 811e32e..609e874 100644
--- a/deps/examples/java-multiCameraServer/build.gradle
+++ b/deps/examples/java-multiCameraServer/build.gradle
@@ -23,6 +23,8 @@ dependencies {
     compile name: 'cscore'
     compile name: 'cameraserver'
     compile name: 'opencv-344'
+    compile name: 'wpilibj'
+    compile name: 'wpiHal'
 }
 
 wrapper {
diff --git a/stage2/01-sys-tweaks/01-run.sh b/stage2/01-sys-tweaks/01-run.sh
index 0a80570..ec043bb 100755
--- a/stage2/01-sys-tweaks/01-run.sh
+++ b/stage2/01-sys-tweaks/01-run.sh
@@ -112,6 +112,9 @@ cat extfiles/wpiutil-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/incl
 cat extfiles/cscore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
 cat extfiles/ntcore-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
 cat extfiles/cameraserver-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
+cat extfiles/hal-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
+cat extfiles/hal-gen-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
+cat extfiles/wpilibc-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
 cat extfiles/opencv-include.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include/ && tar xzf -"
 
 install -v -d "${ROOTFS_DIR}/usr/local/frc/share/OpenCV"