[ntcore] Add ntcoreffi binary (wpilibsuite#4471)

Co-authored-by: Peter Johnson <[email protected]>

.github/workflows/gradle.yml

@@ -56,16 +56,24 @@ jobs:
             architecture: x64
             task: "build"
             build-options: "-PciDebugOnly --max-workers 1"
+            outputs: "build/allOutputs"
           - os: windows-2019
             artifact-name: Win64Release
             architecture: x64
             build-options: "-PciReleaseOnly --max-workers 1"
             task: "copyAllOutputs"
+            outputs: "build/allOutputs"
           - os: macOS-11
             artifact-name: macOS
             architecture: x64
             build-options: "-Pbuildalldesktop"
             task: "build"
+            outputs: "build/allOutputs"
+          - os: windows-2019
+            artifact-name: Win32
+            architecture: x86
+            task: ":ntcoreffi:build"
+            outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:
@@ -94,6 +102,9 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
         if: startsWith(github.ref, 'refs/tags/v')
+      - name: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -107,7 +118,7 @@ jobs:
       - uses: actions/upload-artifact@v2
         with:
           name: ${{ matrix.artifact-name }}
-          path: build/allOutputs
+          path: ${{ matrix.outputs }}
 
   build-documentation:
     name: "Build - Documentation"

ntcoreffi/build.gradle

@@ -0,0 +1,90 @@
+plugins {
+    id 'c'
+    id 'maven-publish'
+}
+
+apply plugin: 'edu.wpi.first.NativeUtils'
+
+apply from: '../shared/config.gradle'
+
+def symbolFile = project.file("src/main/native/symbols.txt")
+
+nativeUtils {
+    privateExportsConfigs {
+        ntcoreffi {
+            exportsFile = symbolFile
+            performStripAllSymbols = true
+        }
+    }
+}
+
+def generatedHeaders = file("$buildDir/generated/headers")
+def generatedFile = file("$buildDir/generated/headers/ExportedSymbols.h")
+
+def generateSymbols = tasks.register('generateFfiSymbols') {
+    inputs.file(symbolFile)
+    outputs.file(generatedFile)
+
+    doLast {
+        def symbolText = symbolFile as String[]
+        symbolText = symbolText.collect {
+            "AddFunctionToLink(${it});"
+        }.join('\n')
+        symbolText += '\n'
+        generatedFile.text = symbolText
+    }
+}
+
+model {
+    components {
+        ntcoreffi(NativeLibrarySpec) {
+            sources {
+                c {
+                    source {
+                        srcDirs = ['src/main/native/c']
+                        includes = ['**/*.c']
+                    }
+                    exportedHeaders {
+                        srcDir 'src/main/native/include'
+                        srcDir generatedHeaders
+                    }
+                }
+            }
+            binaries.all { binary ->
+                if (binary instanceof StaticLibraryBinarySpec) {
+                    binary.buildable = false
+                    return
+                }
+                binary.tasks.withType(AbstractNativeSourceCompileTask) {
+                    it.dependsOn generateSymbols
+                }
+                project(':ntcore').addNtcoreDependency(binary, 'static')
+                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+            }
+        }
+    }
+}
+
+def nativeName = 'ntcoreffi'
+def baseArtifactId = nativeName
+def artifactGroupId = "edu.wpi.first.${nativeName}"
+def zipBaseName = "_GROUP_edu_wpi_first_${nativeName}_ID_${nativeName}-cpp_CLS"
+
+model {
+    publishing {
+        def taskList = createComponentZipTasks($.components, [nativeName], zipBaseName, Zip, project, includeStandardZipFormat)
+
+        publications {
+            cpp(MavenPublication) {
+                taskList.each {
+                    artifact it
+                }
+
+                artifactId = "${baseArtifactId}-cpp"
+                groupId artifactGroupId
+                version wpilibVersioning.version.get()
+            }
+        }
+    }
+}

ntcoreffi/src/main/native/c/ntcoreffi.c

@@ -0,0 +1,11 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#define AddFunctionToLink(FuncName) \
+  extern void FuncName(void);       \
+  FuncName()
+
+void DoNotCallMeImOnlyForLinking(void) {
+#include "ExportedSymbols.h"
+}

ntcoreffi/src/main/native/symbols.txt

@@ -0,0 +1,242 @@
+NT_AddConnectionListener
+NT_AddLogger
+NT_AddPolledConnectionListener
+NT_AddPolledLogger
+NT_AddPolledTopicListener
+NT_AddPolledTopicListenerMultiple
+NT_AddPolledTopicListenerSingle
+NT_AddPolledValueListener
+NT_AddTopicListener
+NT_AddTopicListenerMultiple
+NT_AddTopicListenerSingle
+NT_AddValueListener
+NT_AllocateBooleanArray
+NT_AllocateCharArray
+NT_AllocateDoubleArray
+NT_AllocateFloatArray
+NT_AllocateIntegerArray
+NT_AllocateStringArray
+NT_CreateConnectionListenerPoller
+NT_CreateInstance
+NT_CreateLoggerPoller
+NT_CreateTopicListenerPoller
+NT_CreateValueListenerPoller
+NT_DeleteTopicProperty
+NT_DestroyConnectionListenerPoller
+NT_DestroyInstance
+NT_DestroyLoggerPoller
+NT_DestroyTopicListenerPoller
+NT_DestroyValueListenerPoller
+NT_DisposeConnectionInfoArray
+NT_DisposeConnectionNotification
+NT_DisposeConnectionNotificationArray
+NT_DisposeLogMessage
+NT_DisposeLogMessageArray
+NT_DisposeString
+NT_DisposeTimestampedBoolean
+NT_DisposeTimestampedBooleanArray
+NT_DisposeTimestampedDouble
+NT_DisposeTimestampedDoubleArray
+NT_DisposeTimestampedFloat
+NT_DisposeTimestampedFloatArray
+NT_DisposeTimestampedInteger
+NT_DisposeTimestampedIntegerArray
+NT_DisposeTimestampedRaw
+NT_DisposeTimestampedString
+NT_DisposeTimestampedStringArray
+NT_DisposeTopicInfo
+NT_DisposeTopicInfoArray
+NT_DisposeTopicNotification
+NT_DisposeTopicNotificationArray
+NT_DisposeValue
+NT_DisposeValueArray
+NT_DisposeValueNotification
+NT_DisposeValueNotificationArray
+NT_Flush
+NT_FlushLocal
+NT_FreeBooleanArray
+NT_FreeCharArray
+NT_FreeConnectionInfoForTesting
+NT_FreeDoubleArray
+NT_FreeFloatArray
+NT_FreeIntegerArray
+NT_FreeQueueBoolean
+NT_FreeQueueBooleanArray
+NT_FreeQueueDouble
+NT_FreeQueueDoubleArray
+NT_FreeQueueFloat
+NT_FreeQueueFloatArray
+NT_FreeQueueInteger
+NT_FreeQueueIntegerArray
+NT_FreeQueueRaw
+NT_FreeQueueString
+NT_FreeQueueStringArray
+NT_FreeStringArray
+NT_FreeTopicInfoForTesting
+NT_GetAtomicBoolean
+NT_GetAtomicBooleanArray
+NT_GetAtomicDouble
+NT_GetAtomicDoubleArray
+NT_GetAtomicFloat
+NT_GetAtomicFloatArray
+NT_GetAtomicInteger
+NT_GetAtomicIntegerArray
+NT_GetAtomicRaw
+NT_GetAtomicString
+NT_GetAtomicStringArray
+NT_GetBoolean
+NT_GetBooleanArray
+NT_GetConnectionInfoForTesting
+NT_GetConnections
+NT_GetDefaultInstance
+NT_GetDouble
+NT_GetDoubleArray
+NT_GetEntry
+NT_GetEntryEx
+NT_GetEntryFlags
+NT_GetEntryLastChange
+NT_GetEntryName
+NT_GetEntryType
+NT_GetEntryValue
+NT_GetFloat
+NT_GetFloatArray
+NT_GetInstanceFromHandle
+NT_GetInteger
+NT_GetIntegerArray
+NT_GetNetworkMode
+NT_GetRaw
+NT_GetString
+NT_GetStringArray
+NT_GetStringForTesting
+NT_GetTopic
+NT_GetTopicExists
+NT_GetTopicFromHandle
+NT_GetTopicInfo
+NT_GetTopicInfoForTesting
+NT_GetTopicInfos
+NT_GetTopicInfosStr
+NT_GetTopicName
+NT_GetTopicPersistent
+NT_GetTopicProperties
+NT_GetTopicProperty
+NT_GetTopicRetained
+NT_GetTopics
+NT_GetTopicsStr
+NT_GetTopicType
+NT_GetTopicTypeString
+NT_GetValueBoolean
+NT_GetValueBooleanArray
+NT_GetValueBooleanArrayForTesting
+NT_GetValueBooleanForTesting
+NT_GetValueDouble
+NT_GetValueDoubleArray
+NT_GetValueDoubleArrayForTesting
+NT_GetValueDoubleForTesting
+NT_GetValueFloat
+NT_GetValueFloatArray
+NT_GetValueInteger
+NT_GetValueIntegerArray
+NT_GetValueRaw
+NT_GetValueRawForTesting
+NT_GetValueString
+NT_GetValueStringArray
+NT_GetValueStringArrayForTesting
+NT_GetValueStringForTesting
+NT_GetValueType
+NT_InitString
+NT_InitValue
+NT_IsConnected
+NT_Now
+NT_Publish
+NT_PublishEx
+NT_ReadConnectionListenerQueue
+NT_ReadLoggerQueue
+NT_ReadQueueBoolean
+NT_ReadQueueBooleanArray
+NT_ReadQueueDouble
+NT_ReadQueueDoubleArray
+NT_ReadQueueFloat
+NT_ReadQueueFloatArray
+NT_ReadQueueInteger
+NT_ReadQueueIntegerArray
+NT_ReadQueueRaw
+NT_ReadQueueString
+NT_ReadQueueStringArray
+NT_ReadQueueValue
+NT_ReadQueueValuesBoolean
+NT_ReadQueueValuesDouble
+NT_ReadQueueValuesFloat
+NT_ReadQueueValuesInteger
+NT_ReadTopicListenerQueue
+NT_ReadValueListenerQueue
+NT_Release
+NT_ReleaseEntry
+NT_RemoveConnectionListener
+NT_RemoveLogger
+NT_RemoveTopicListener
+NT_RemoveValueListener
+NT_SetBoolean
+NT_SetBooleanArray
+NT_SetDefaultBoolean
+NT_SetDefaultBooleanArray
+NT_SetDefaultDouble
+NT_SetDefaultDoubleArray
+NT_SetDefaultEntryValue
+NT_SetDefaultFloat
+NT_SetDefaultFloatArray
+NT_SetDefaultInteger
+NT_SetDefaultIntegerArray
+NT_SetDefaultRaw
+NT_SetDefaultString
+NT_SetDefaultStringArray
+NT_SetDouble
+NT_SetDoubleArray
+NT_SetEntryFlags
+NT_SetEntryValue
+NT_SetFloat
+NT_SetFloatArray
+NT_SetInteger
+NT_SetIntegerArray
+NT_SetNetworkIdentity
+NT_SetNow
+NT_SetRaw
+NT_SetServer
+NT_SetServerMulti
+NT_SetServerTeam
+NT_SetString
+NT_SetStringArray
+NT_SetTopicPersistent
+NT_SetTopicProperties
+NT_SetTopicProperty
+NT_SetTopicRetained
+NT_StartClient3
+NT_StartClient4
+NT_StartDSClient
+NT_StartLocal
+NT_StartServer
+NT_StopClient
+NT_StopDSClient
+NT_StopLocal
+NT_StopServer
+NT_Subscribe
+NT_Unpublish
+NT_Unsubscribe
+WPI_CreateEvent
+WPI_CreateSemaphore
+WPI_CreateSignalObject
+WPI_DestroyEvent
+WPI_DestroySemaphore
+WPI_DestroySignalObject
+WPI_GetSystemTime
+WPI_Now
+WPI_NowDefault
+WPI_ReleaseSemaphore
+WPI_ResetEvent
+WPI_ResetSignalObject
+WPI_SetEvent
+WPI_SetNowImpl
+WPI_SetSignalObject
+WPI_WaitForObject
+WPI_WaitForObjectTimeout
+WPI_WaitForObjects
+WPI_WaitForObjectsTimeout

settings.gradle

@@ -51,6 +51,7 @@ include 'wpilibNewCommands'
 include 'myRobot'
 include 'docs'
 include 'msvcruntime'
+include 'ntcoreffi'
 
 buildCache {
     def cred = {