[bazel] Add macros to build jni code and java tests (#7693)

wpilibsuite · Jan 27, 2025 · 3b345fe · 3b345fe
1 parent eee30c4
commit 3b345fe
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Showing 19 changed files with 468 additions and 27 deletions.
diff --git a/.github/workflows/bazel.yml b/.github/workflows/bazel.yml
@@ -57,6 +57,7 @@ jobs:
       matrix:
         include:
           - { name: "Linux (native)",  os: ubuntu-24.04,   action: "test",  config: "--config=linux",    }
+          - { name: "Linux (systemcore)",  os: ubuntu-24.04,   action: "build",  config: "--config=systemcore",    }
     name: "${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     steps:

diff --git a/.styleguide b/.styleguide
@@ -14,6 +14,7 @@ modifiableFileExclude {
   thirdparty/
   \.patch$
   gradlew
+  BUILD.bazel
 }
 
 generatedFileExclude {

diff --git a/WORKSPACE b/WORKSPACE
@@ -13,6 +13,7 @@ load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
 rules_jvm_external_deps()
 
 load("@rules_jvm_external//:defs.bzl", "maven_install")
+load("@rules_jvm_external//:specs.bzl", "maven")
 
 maven_artifacts = [
     "org.ejml:ejml-simple:0.43.1",
@@ -21,6 +22,72 @@ maven_artifacts = [
     "com.fasterxml.jackson.core:jackson-databind:2.15.2",
     "us.hebi.quickbuf:quickbuf-runtime:1.3.3",
     "com.google.code.gson:gson:2.10.1",
+    maven.artifact(
+        "org.junit.jupiter",
+        "junit-jupiter",
+        "5.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-console",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-launcher",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-reporting",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.google.code.gson",
+        "gson",
+        "2.10.1",
+        testonly = False,
+    ),
+    maven.artifact(
+        "org.hamcrest",
+        "hamcrest-all",
+        "1.3",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.googlecode.junit-toolbox",
+        "junit-toolbox",
+        "2.4",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.apache.ant",
+        "ant",
+        "1.10.12",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.apache.ant",
+        "ant-junit",
+        "1.10.12",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.mockito",
+        "mockito-core",
+        "4.1.0",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.google.testing.compile",
+        "compile-testing",
+        "0.21.0",
+        testonly = True,
+    ),
 ]
 
 maven_install(

diff --git a/apriltag/BUILD.bazel b/apriltag/BUILD.bazel
@@ -1,6 +1,8 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
 load("@rules_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 
 cc_library(
@@ -59,9 +61,20 @@ cc_library(
     ],
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "apriltagjni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":apriltag-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":apriltag.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "apriltag-java",
     srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":apriltagjni"],
     resource_strip_prefix = "apriltag/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
     visibility = ["//visibility:public"],
@@ -88,6 +101,20 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "apriltag-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    resource_strip_prefix = "apriltag/src/test/resources",
+    resources = glob(["src/test/resources/**"]),
+    deps = [
+        ":apriltag-java",
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],

diff --git a/cscore/BUILD.bazel b/cscore/BUILD.bazel
@@ -1,5 +1,7 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test", "objc_library")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 
 WIN_SRCS = glob([
     "src/main/native/windows/**/*.cpp",
@@ -71,9 +73,20 @@ cc_library(
     }),
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "cscorejni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":cscore-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":cscore.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "cscore-java",
     srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":cscorejni"],
     visibility = ["//visibility:public"],
     deps = [
         "//wpiutil:wpiutil-java",
@@ -91,6 +104,15 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "cscore-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":cscore-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],

diff --git a/epilogue-processor/BUILD.bazel b/epilogue-processor/BUILD.bazel
@@ -1,4 +1,5 @@
 load("@rules_java//java:defs.bzl", "java_library", "java_plugin")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 
 java_library(
     name = "processor",
@@ -20,3 +21,15 @@ java_plugin(
         ":processor",
     ],
 )
+
+wpilib_java_junit5_test(
+    name = "processor-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    plugins = [
+        ":plugin",
+    ],
+    deps = [
+        ":processor",
+        "@maven//:com_google_testing_compile_compile_testing",
+    ],
+)
diff --git a/epilogue-runtime/BUILD.bazel b/epilogue-runtime/BUILD.bazel
@@ -1,4 +1,5 @@
 load("@rules_java//java:defs.bzl", "java_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 
 java_library(
     name = "epilogue",
@@ -10,3 +11,12 @@ java_library(
         "//wpiutil:wpiutil-java",
     ],
 )
+
+wpilib_java_junit5_test(
+    name = "epilogue-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":epilogue",
+        "//wpiutil:wpiutil-java",
+    ],
+)
diff --git a/fieldImages/BUILD.bazel b/fieldImages/BUILD.bazel
@@ -1,5 +1,6 @@
 load("@rules_cc//cc:defs.bzl", "cc_library")
 load("@rules_java//java:defs.bzl", "java_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 
 generate_resources(
@@ -29,3 +30,11 @@ java_library(
         "@maven//:com_fasterxml_jackson_core_jackson_databind",
     ],
 )
+
+wpilib_java_junit5_test(
+    name = "fieldImages-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":fieldImages-java",
+    ],
+)
diff --git a/hal/BUILD.bazel b/hal/BUILD.bazel
@@ -1,5 +1,7 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 
 cc_library(
     name = "generated_cc_headers",
@@ -31,23 +33,14 @@ filegroup(
     visibility = ["//hal:__subpackages__"],
 )
 
-ATHENA_SRCS = glob(["src/main/native/athena/**"])
-
-ATHENA_DEPS = ["@bzlmodrio-ni//libraries/cpp/ni:shared"]
+SYSTEMCORE_SRCS = glob(["src/main/native/systemcore/**"])
 
 SIM_SRCS = glob(["src/main/native/sim/**"])
 
-SIM_DEPS = []
-
-HAL_DEPS = select({
-    "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ATHENA_DEPS,
-    "//conditions:default": SIM_DEPS,
-})
-
 filegroup(
     name = "platform-srcs",
     srcs = select({
-        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ATHENA_SRCS,
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": SYSTEMCORE_SRCS,
         "//conditions:default": SIM_SRCS,
     }),
 )
@@ -67,17 +60,28 @@ cc_library(
     visibility = ["//visibility:public"],
     deps = [
         ":generated_cc_headers",
-        ":mrc_cc_headers",
         ":generated_mrc_cc_headers",
+        ":mrc_cc_headers",
         "//ntcore:ntcore.static",
         "//wpinet:wpinet.static",
         "//wpiutil:wpiutil.static",
-    ] + HAL_DEPS,
+    ],
+)
+
+wpilib_jni_cc_library(
+    name = "wpiHaljni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":hal-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpiHal.static",
+    ],
 )
 
-java_library(
+wpilib_jni_java_library(
     name = "hal-java",
     srcs = [":generated_java"] + glob(["src/main/java/**/*.java"]),
+    native_libs = [":wpiHaljni"],
     visibility = ["//visibility:public"],
     deps = [
         "//ntcore:networktables-java",
@@ -99,6 +103,14 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "hal-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":hal-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],

diff --git a/ntcore/BUILD.bazel b/ntcore/BUILD.bazel
@@ -1,5 +1,7 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 
 cc_library(
     name = "generated_cc_headers",
@@ -18,6 +20,12 @@ filegroup(
     visibility = ["//ntcore:__subpackages__"],
 )
 
+filegroup(
+    name = "generated_jni",
+    srcs = glob(["src/generated/main/native/cpp/jni/**"]),
+    visibility = ["//ntcore:__subpackages__"],
+)
+
 filegroup(
     name = "generated_java",
     srcs = glob(["src/generated/main/java/**/*.java"]),
@@ -44,9 +52,20 @@ cc_library(
     ],
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "ntcorejni",
+    srcs = glob(["src/main/native/cpp/jni/**"]) + [":generated_jni"],
+    java_dep = ":networktables-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":ntcore.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "networktables-java",
     srcs = glob(["src/main/java/**/*.java"]) + [":generated_java"],
+    native_libs = [":ntcorejni"],
     visibility = ["//visibility:public"],
     deps = [
         "//wpiutil:wpiutil-java",
@@ -73,6 +92,16 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "ntcore-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    tags = ["exclusive"],
+    deps = [
+        ":networktables-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],

diff --git a/shared/bazel/rules/BUILD.bazel b/shared/bazel/rules/BUILD.bazel