Add JNI test support (#37)

* Add JNI test support

* Fix cross

* Fixes

build.gradle

@@ -1,3 +1,5 @@
+import edu.wpi.first.toolchain.*
+
 plugins {
   id 'cpp'
   id 'java'
@@ -44,6 +46,23 @@ dependencies {
     implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
     implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
     implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-4'
+
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+// Set up java tests
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    testLogging {
+        events "failed"
+        exceptionFormat "full"
+    }
+}
+
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64') || project.hasProperty('onlywindowsarm64') || project.hasProperty('onlylinuxsystemcore')) {
+    test.enabled = false
 }
 
 // Setup Javadocs to link back to WPILib docs
@@ -68,6 +87,12 @@ nativeUtils {
   }
 }
 
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}
+
+def systemArch = getCurrentArch()
+
 model {
   components {
     Vendor(NativeLibrarySpec) {
@@ -121,6 +146,15 @@ model {
 
         binaries.all {
           lib library: 'VendorDriver', linkage: 'shared'
+
+          def arch = it.targetPlatform.name
+          if (systemArch == arch && it.buildType.name == 'debug') {
+            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+            test.dependsOn it.tasks.install
+            test.systemProperty 'java.library.path', filePath
+            test.environment 'LD_LIBRARY_PATH', filePath
+            test.workingDir filePath
+          }
         }
 
         nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
@@ -133,7 +167,6 @@ model {
                 include '**/*.cpp'
             }
         }
-
         nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
     }
   }

src/test/java/com/vendor/jni/VendorJNITest.java

@@ -0,0 +1,11 @@
+package com.vendor.jni;
+
+import org.junit.jupiter.api.Test;
+
+public class VendorJNITest {
+  @Test
+  void jniLinkTest() {
+    // Test to verify that the JNI test link works correctly.
+    VendorJNI.initialize();
+  }
+}