From 78f99637b9182e609780c84cc954c5e9eb19e0cd Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Fri, 30 Nov 2018 21:05:14 -0800
Subject: [PATCH] Add pynetworktables and robotpy-cscore

---
 copyextfiles.sh                | 11 +++++++++++
 stage2/01-sys-tweaks/01-run.sh |  4 ++++
 tools/Makefile                 | 34 ++++++++++++++++++++++++++++++++++
 3 files changed, 49 insertions(+)

diff --git a/copyextfiles.sh b/copyextfiles.sh
index 9de32ef..e8ac933 100755
--- a/copyextfiles.sh
+++ b/copyextfiles.sh
@@ -6,6 +6,7 @@ mkdir -p stage2/01-sys-tweaks/extfiles
 # tools
 #
 cp tools/setuidgids stage2/01-sys-tweaks/extfiles/
+cp tools/_cscore.so stage2/01-sys-tweaks/extfiles/_cscore.cpython-35m-arm-linux-gnueabihf.so
 
 #
 # openjdk
@@ -24,6 +25,16 @@ cp ../thirdparty-opencv/buildShared/linux-raspbian/bin/opencv-*.jar stage2/01-sy
 # of the target platform, so rename it
 cp ../thirdparty-opencv/buildShared/linux-raspbian/lib/python3/cv2.*.so stage2/01-sys-tweaks/extfiles/cv2.cpython-35m-arm-linux-gnueabihf.so
 
+#
+# robotpy-cscore
+#
+sh -c 'cd ../robotpy-cscore/ && tar czf - cscore' > stage2/01-sys-tweaks/extfiles/robotpy-cscore.tar.gz
+
+#
+# pynetworktables
+#
+sh -c 'cd ../pynetworktables/ && tar czf - networktables ntcore' > stage2/01-sys-tweaks/extfiles/pynetworktables.tar.gz
+
 #
 # allwpilib
 #
diff --git a/stage2/01-sys-tweaks/01-run.sh b/stage2/01-sys-tweaks/01-run.sh
index 7e7ba10..64dcab8 100755
--- a/stage2/01-sys-tweaks/01-run.sh
+++ b/stage2/01-sys-tweaks/01-run.sh
@@ -86,6 +86,10 @@ cat extfiles/libopencv.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib/ && ta
 
 install -m 755 extfiles/cv2.*.so "${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/"
 
+cat extfiles/pynetworktables.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/ && tar xzf -"
+cat extfiles/robotpy-cscore.tar.gz | sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/ && tar xzf -"
+install -m 755 extfiles/_cscore.*.so "${ROOTFS_DIR}/usr/local/lib/python3.5/dist-packages/cscore/"
+
 install -m 755 extfiles/libwpiutil*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
 install -m 755 extfiles/libcscore*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
 install -m 755 extfiles/libntcore*.so* "${ROOTFS_DIR}/usr/local/frc/lib/"
diff --git a/tools/Makefile b/tools/Makefile
index 87882c9..86ded4e 100644
--- a/tools/Makefile
+++ b/tools/Makefile
@@ -1,2 +1,36 @@
+ALL: setuidgids _cscore.so
+
 setuidgids: setuidgids.c
 	arm-raspbian9-linux-gnueabihf-gcc -O -Wall -D_GNU_SOURCE -o $@ $<
+
+_cscore.so: ../../robotpy-cscore/src/_cscore.cpp ../../robotpy-cscore/src/ndarray_converter.cpp
+	arm-raspbian9-linux-gnueabihf-g++ -O -Wall -shared -fPIC -o $@ \
+	    -I../../thirdparty-opencv/opencv/include \
+	    -I../../thirdparty-opencv/opencv/modules/core/include \
+	    -I../../thirdparty-opencv/opencv/modules/calib3d/include \
+	    -I../../thirdparty-opencv/opencv/modules/features2d/include \
+	    -I../../thirdparty-opencv/opencv/modules/flann/include \
+	    -I../../thirdparty-opencv/opencv/modules/highgui/include \
+	    -I../../thirdparty-opencv/opencv/modules/imgcodecs/include \
+	    -I../../thirdparty-opencv/opencv/modules/imgproc/include \
+	    -I../../thirdparty-opencv/opencv/modules/ml/include \
+	    -I../../thirdparty-opencv/opencv/modules/objdetect/include \
+	    -I../../thirdparty-opencv/opencv/modules/photo/include \
+	    -I../../thirdparty-opencv/opencv/modules/shape/include \
+	    -I../../thirdparty-opencv/opencv/modules/stitching/include \
+	    -I../../thirdparty-opencv/opencv/modules/superres/include \
+	    -I../../thirdparty-opencv/opencv/modules/video/include \
+	    -I../../thirdparty-opencv/opencv/modules/videoio/include \
+	    -I../../thirdparty-opencv/opencv/modules/videostab/include \
+	    -I../../thirdparty-opencv/buildShared/linux-raspbian \
+	    -I../../allwpilib/wpiutil/src/main/native/include \
+	    -I../../allwpilib/cscore/src/main/native/include \
+	    -I/usr/local/arm-raspbian9-linux-gnueabihf/usr/include/python3.5 \
+	    -L../../allwpilib/cscore/build/libs/cscore/shared/raspbian/release \
+	    -L../../allwpilib/wpiutil/build/libs/wpiutil/shared/raspbian/release \
+	    -L../../thirdparty-opencv/buildShared/linux-raspbian/lib \
+	    ../../robotpy-cscore/src/_cscore.cpp \
+	    ../../robotpy-cscore/src/ndarray_converter.cpp \
+	    -lcscore \
+	    -lwpiutil \
+	    -lopencv_calib3d -lopencv_features2d -lopencv_flann -lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc -lopencv_ml -lopencv_objdetect -lopencv_photo -lopencv_shape -lopencv_stitching -lopencv_superres -lopencv_video -lopencv_videoio -lopencv_videostab -lopencv_core