Started JNI cursed bs crashes for now

Signed-off-by: Jade Turner <[email protected]>

build.gradle

@@ -1,17 +1,55 @@
 plugins {
     id "java"
+    id "cpp"
     id "edu.wpi.first.GradleRIO" version "2025.2.1"
+    id 'edu.wpi.first.GradleJni' version '1.1.0'
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.12.0"
 }
 
+import edu.wpi.first.gradlerio.wpi.java.*;
+import org.gradle.internal.os.OperatingSystem;
+
+def configureExecutableNatives(JavaForkOptions t, Provider<ExtractNativeJavaArtifacts> extract) {
+    Task tt = (Task) t
+    tt.dependsOn extract
+    Provider<DirectoryProperty> destDir = project.getProviders().provider({
+        return extract.get().getDestinationDirectory()
+    })
+    tt.getInputs().dir(destDir)
+    tt.doFirst(new TestTaskDoFirstAction(t, destDir))
+}
+
+def configureJavaExecTask(JavaExec t, boolean debug) {
+    def extract;
+
+    if (debug) {
+        extract = project.getTasks().register("extractDebugNative2", ExtractNativeJavaArtifacts.class)
+    } else {
+        extract = project.getTasks().register("extractReleaseNative2", ExtractNativeJavaArtifacts.class)
+    }
+
+    configureExecutableNatives(t, extract)
+    if (OperatingSystem.current().isMacOsX()) {
+        t.jvmArgs("-XstartOnFirstThread")
+    }
+}
+
 java {
     sourceCompatibility = JavaVersion.VERSION_17
     targetCompatibility = JavaVersion.VERSION_17
 }
 
 def ROBOT_MAIN_CLASS = "org.curtinfrc.frc2025.Main"
 
+nativeUtils {
+    exportsConfigs {
+        // Only export explicit symbols from driver library
+        TrajgenJNI {
+        }
+    }
+}
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
@@ -54,6 +92,46 @@ deploy {
     }
 }
 
+task refreshCompileCommands(type: Exec) {
+    workingDir = rootDir
+    def args = [
+        "rm",
+        "-rf",
+        "$buildDir/TargetedCompileCommands"
+    ]
+    commandLine args
+}
+
+model {
+    components {
+        TrajgenJNI(JniNativeLibrarySpec) {
+            targetPlatform wpi.platforms.desktop
+            enableCheckTask = true
+            javaCompileTasks << compileJava
+            jniCrossCompileOptions << JniCrossCompileOptions(wpi.platforms.desktop)
+
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp'
+                        include '**/*.cpp'
+                    }
+
+                    exportedHeaders {
+                        srcDir 'src/main/native/include'
+                    }
+                }
+            }
+
+            binaries.all {
+                lib project: ':trajoptlib', library: 'TrajoptLib', linkage: 'static'
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+        }
+    }
+}
+
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
 // Set to true to use debug for JNI.
@@ -88,6 +166,13 @@ task(regenerateTrajectories, dependsOn: "classes", type: Exec) {
 
 project.compileJava.finalizedBy(regenerateTrajectories)
 
+task(generateTrajectories, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.curtinfrc.frc2025.auto.TrajectoryGenerator"
+    classpath = sourceSets.main.runtimeClasspath
+    jvmArgs += "-Djava.library.path=${buildDir}/libs/trajgenJNI/shared/release"
+}
+configureJavaExecTask(generateTrajectories, project.frc.getDebugOrDefault(false))
+
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {

src/main/java/org/curtinfrc/frc2025/BuildConstants.java

@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2025-Reefscape";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 33;
-  public static final String GIT_SHA = "c02ca801e6b1ef3a366b050ea65a8162bd71a85e";
-  public static final String GIT_DATE = "2025-01-19 21:06:05 AWST";
+  public static final int GIT_REVISION = 34;
+  public static final String GIT_SHA = "0b10ae048494bfc84b04e14e52241ce2efa3584b";
+  public static final String GIT_DATE = "2025-01-19 21:06:40 AWST";
   public static final String GIT_BRANCH = "HEAD";
-  public static final String BUILD_DATE = "2025-01-19 21:06:18 AWST";
-  public static final long BUILD_UNIX_TIME = 1737291978786L;
+  public static final String BUILD_DATE = "2025-01-19 21:07:01 AWST";
+  public static final long BUILD_UNIX_TIME = 1737292021607L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/org/curtinfrc/frc2025/auto/TrajectoryGenerator.java

@@ -0,0 +1,7 @@
+package org.curtinfrc.frc2025.auto;
+
+public class TrajectoryGenerator {
+  public static void main(String... args) {
+    TrajgenJNI.helloWorld();
+  }
+}

src/main/java/org/curtinfrc/frc2025/auto/TrajgenJNI.java

@@ -0,0 +1,17 @@
+package org.curtinfrc.frc2025.auto;
+
+import edu.wpi.first.util.RuntimeLoader;
+import java.io.IOException;
+
+public class TrajgenJNI {
+  static {
+    try {
+      RuntimeLoader.loadLibrary("TrajgenJNI");
+    } catch (IOException e) {
+      e.printStackTrace();
+      System.exit(1);
+    }
+  }
+
+  public static native void helloWorld();
+}

src/main/native/cpp/TrajectoryGeneration.cpp

@@ -0,0 +1,12 @@
+#include "TrajectoryGeneration.h"
+#include "trajopt/SwerveTrajectoryGenerator.hpp"
+#include "trajopt/path/Path.hpp"
+#include <vector>
+
+trajopt::SwerveSolution trajgen::CreateInitialGuess(std::vector<trajopt::Waypoint> trajectory) {
+  return trajopt::SwerveSolution{};
+}
+
+trajopt::SwerveTrajectory trajgen::Generate(InputTrajectory trajectory) {
+  return trajopt::SwerveTrajectory{};
+}

src/main/native/cpp/TrajgenJNI.cpp

@@ -0,0 +1,20 @@
+#include <jni.h>
+#include <wpi/array.h>
+#include <wpi/jni_util.h>
+
+#include "fmt/base.h"
+#include "jni_md.h"
+
+extern "C" {
+/*
+ * Class:     frc_robot_jni_ShooterTrajoptJNI
+ * Method:    calculateTrajectory
+ * Signature: ([D????)V
+ */
+JNIEXPORT void JNICALL
+Java_org_curtinfrc_frc2025_auto_TrajgenJNI_helloWorld
+  (JNIEnv* env, jclass)
+{
+  fmt::println("Hello world!");
+}
+}  // extern "C"

src/main/native/include/TrajectoryGeneration.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "trajopt/SwerveTrajectoryGenerator.hpp"
+#include "trajopt/constraint/Constraint.hpp"
+#include "trajopt/path/Path.hpp"
+#include <vector>
+
+namespace trajgen {
+struct InputTrajectory {
+  std::vector<trajopt::Waypoint> waypoints;
+  std::vector<trajopt::Constraint> constraints;
+};
+
+trajopt::SwerveSolution CreateInitialGuess(std::vector<trajopt::Waypoint> waypoints);
+trajopt::SwerveTrajectory Generate(InputTrajectory trajectory);
+}