Started JNI cursed bs crashes for now

Signed-off-by: Jade Turner <[email protected]>
CurtinFRC · Jan 19, 2025 · 8ebacc3 · 8ebacc3
1 parent 0b10ae0
commit 8ebacc3
Show file tree

Hide file tree

Showing 16 changed files with 258 additions and 101 deletions.
diff --git a/build.gradle b/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 {

diff --git a/src/main/java/org/curtinfrc/frc2025/BuildConstants.java b/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() {}

diff --git a/src/main/java/org/curtinfrc/frc2025/auto/TrajectoryGenerator.java b/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();
+  }
+}
diff --git a/src/main/java/org/curtinfrc/frc2025/auto/TrajgenJNI.java b/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();
+}
diff --git a/src/main/native/cpp/TrajectoryGeneration.cpp b/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{};
+}
diff --git a/src/main/native/cpp/TrajgenJNI.cpp b/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"
diff --git a/src/main/native/include/TrajectoryGeneration.h b/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);
+}
diff --git a/trajoptlib/build/tmp/compileTrajoptLibDebugSharedLibraryTrajoptLibCpp/options.txt b/trajoptlib/build/tmp/compileTrajoptLibDebugSharedLibraryTrajoptLibCpp/options.txt
@@ -18,25 +18,25 @@ c++
 -I
 /home/jadey/Documents/frc/2025-Reefscape/trajoptlib/src/main/include
 -I
-/home/jadey/.gradle/caches/8.11/transforms/188bdfacfd1575729d62c3ffdc004502/transformed/wpilibc-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/53a9011fd7efcd6a2e8bfd3f21c8a678/transformed/wpilibc-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/a215936a413cf0cf857cc8c6f3a617ef/transformed/ntcore-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/e007ac1ce43ac7002240e392f502656a/transformed/ntcore-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/f6daf74b4fee88d5b154906067a13821/transformed/hal-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/d10353a5f411045835a3e342820132b1/transformed/hal-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/4632b34f694f2710e1b65141022e0a43/transformed/wpimath-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/02ec676971f66d9182bc7f1e64a1c757/transformed/wpimath-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/0899f3039bfd10b32536e440a7a62e3d/transformed/wpinet-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/92f79973f43a017fed3b925394e5bc09/transformed/wpinet-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/0d55a6ec567e432c3ea92a8c973ef938/transformed/wpiutil-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/dabccdc907ac00487f9c14aa5d409e2b/transformed/wpiutil-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/8c3de92822ae800f0f6d2da1e7506e4f/transformed/cameraserver-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/74055d7f1dbf261e0cf9e508957a2fec/transformed/cameraserver-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/e7d5b15118f7ea4e1c47eefceb3f48c6/transformed/cscore-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/80b6ed662b5a1a402c92a6afe70deacd/transformed/cscore-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/fd1f89d569b46d2e4cba3ec25cda0915/transformed/apriltag-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/64c3738b8c1d55bb1b29309d040b5f73/transformed/apriltag-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/ddfab50b6f089479a32d90c64d0ffef8/transformed/opencv-cpp-4.10.0-3-headers
+/home/jadey/.gradle/caches/8.11/transforms/da1da30eb945eb32e5a98a0cd6bac2bd/transformed/opencv-cpp-4.10.0-3-headers
 -isystem
 /usr/include/c++/14
 -isystem

diff --git a/trajoptlib/build/tmp/compileTrajoptLibDebugSharedLibraryTrajoptLibCpp/output.txt b/trajoptlib/build/tmp/compileTrajoptLibDebugSharedLibraryTrajoptLibCpp/output.txt
@@ -1,8 +1,8 @@
 See file:///home/jadey/Documents/frc/2025-Reefscape/trajoptlib/build/tmp/compileTrajoptLibDebugSharedLibraryTrajoptLibCpp/output.txt for all output for compileTrajoptLibDebugSharedLibraryTrajoptLibCpp.
+compiling DifferentialTrajectoryGenerator.cpp successful.
+
 compiling Cancellation.cpp successful.
 
 compiling SwerveTrajectoryGenerator.cpp successful.
 
-compiling DifferentialTrajectoryGenerator.cpp successful.
-
 Finished compileTrajoptLibDebugSharedLibraryTrajoptLibCpp, see full log file:///home/jadey/Documents/frc/2025-Reefscape/trajoptlib/build/tmp/compileTrajoptLibDebugSharedLibraryTrajoptLibCpp/output.txt.
diff --git a/trajoptlib/build/tmp/compileTrajoptLibDebugStaticLibraryTrajoptLibCpp/options.txt b/trajoptlib/build/tmp/compileTrajoptLibDebugStaticLibraryTrajoptLibCpp/options.txt
@@ -17,25 +17,25 @@ c++
 -I
 /home/jadey/Documents/frc/2025-Reefscape/trajoptlib/src/main/include
 -I
-/home/jadey/.gradle/caches/8.11/transforms/188bdfacfd1575729d62c3ffdc004502/transformed/wpilibc-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/53a9011fd7efcd6a2e8bfd3f21c8a678/transformed/wpilibc-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/a215936a413cf0cf857cc8c6f3a617ef/transformed/ntcore-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/e007ac1ce43ac7002240e392f502656a/transformed/ntcore-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/f6daf74b4fee88d5b154906067a13821/transformed/hal-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/d10353a5f411045835a3e342820132b1/transformed/hal-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/4632b34f694f2710e1b65141022e0a43/transformed/wpimath-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/02ec676971f66d9182bc7f1e64a1c757/transformed/wpimath-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/0899f3039bfd10b32536e440a7a62e3d/transformed/wpinet-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/92f79973f43a017fed3b925394e5bc09/transformed/wpinet-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/0d55a6ec567e432c3ea92a8c973ef938/transformed/wpiutil-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/dabccdc907ac00487f9c14aa5d409e2b/transformed/wpiutil-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/8c3de92822ae800f0f6d2da1e7506e4f/transformed/cameraserver-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/74055d7f1dbf261e0cf9e508957a2fec/transformed/cameraserver-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/e7d5b15118f7ea4e1c47eefceb3f48c6/transformed/cscore-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/80b6ed662b5a1a402c92a6afe70deacd/transformed/cscore-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/fd1f89d569b46d2e4cba3ec25cda0915/transformed/apriltag-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/64c3738b8c1d55bb1b29309d040b5f73/transformed/apriltag-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/ddfab50b6f089479a32d90c64d0ffef8/transformed/opencv-cpp-4.10.0-3-headers
+/home/jadey/.gradle/caches/8.11/transforms/da1da30eb945eb32e5a98a0cd6bac2bd/transformed/opencv-cpp-4.10.0-3-headers
 -isystem
 /usr/include/c++/14
 -isystem

diff --git a/trajoptlib/build/tmp/compileTrajoptLibDebugStaticLibraryTrajoptLibCpp/output.txt b/trajoptlib/build/tmp/compileTrajoptLibDebugStaticLibraryTrajoptLibCpp/output.txt
@@ -1,8 +1,8 @@
 See file:///home/jadey/Documents/frc/2025-Reefscape/trajoptlib/build/tmp/compileTrajoptLibDebugStaticLibraryTrajoptLibCpp/output.txt for all output for compileTrajoptLibDebugStaticLibraryTrajoptLibCpp.
 compiling Cancellation.cpp successful.
 
-compiling DifferentialTrajectoryGenerator.cpp successful.
-
 compiling SwerveTrajectoryGenerator.cpp successful.
 
+compiling DifferentialTrajectoryGenerator.cpp successful.
+
 Finished compileTrajoptLibDebugStaticLibraryTrajoptLibCpp, see full log file:///home/jadey/Documents/frc/2025-Reefscape/trajoptlib/build/tmp/compileTrajoptLibDebugStaticLibraryTrajoptLibCpp/output.txt.
diff --git a/trajoptlib/build/tmp/compileTrajoptLibReleaseSharedLibraryTrajoptLibCpp/options.txt b/trajoptlib/build/tmp/compileTrajoptLibReleaseSharedLibraryTrajoptLibCpp/options.txt
@@ -17,25 +17,25 @@ c++
 -I
 /home/jadey/Documents/frc/2025-Reefscape/trajoptlib/src/main/include
 -I
-/home/jadey/.gradle/caches/8.11/transforms/188bdfacfd1575729d62c3ffdc004502/transformed/wpilibc-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/53a9011fd7efcd6a2e8bfd3f21c8a678/transformed/wpilibc-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/a215936a413cf0cf857cc8c6f3a617ef/transformed/ntcore-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/e007ac1ce43ac7002240e392f502656a/transformed/ntcore-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/f6daf74b4fee88d5b154906067a13821/transformed/hal-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/d10353a5f411045835a3e342820132b1/transformed/hal-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/4632b34f694f2710e1b65141022e0a43/transformed/wpimath-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/02ec676971f66d9182bc7f1e64a1c757/transformed/wpimath-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/0899f3039bfd10b32536e440a7a62e3d/transformed/wpinet-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/92f79973f43a017fed3b925394e5bc09/transformed/wpinet-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/0d55a6ec567e432c3ea92a8c973ef938/transformed/wpiutil-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/dabccdc907ac00487f9c14aa5d409e2b/transformed/wpiutil-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/8c3de92822ae800f0f6d2da1e7506e4f/transformed/cameraserver-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/74055d7f1dbf261e0cf9e508957a2fec/transformed/cameraserver-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/e7d5b15118f7ea4e1c47eefceb3f48c6/transformed/cscore-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/80b6ed662b5a1a402c92a6afe70deacd/transformed/cscore-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/fd1f89d569b46d2e4cba3ec25cda0915/transformed/apriltag-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/64c3738b8c1d55bb1b29309d040b5f73/transformed/apriltag-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/ddfab50b6f089479a32d90c64d0ffef8/transformed/opencv-cpp-4.10.0-3-headers
+/home/jadey/.gradle/caches/8.11/transforms/da1da30eb945eb32e5a98a0cd6bac2bd/transformed/opencv-cpp-4.10.0-3-headers
 -isystem
 /usr/include/c++/14
 -isystem

diff --git a/trajoptlib/build/tmp/compileTrajoptLibReleaseStaticLibraryTrajoptLibCpp/options.txt b/trajoptlib/build/tmp/compileTrajoptLibReleaseStaticLibraryTrajoptLibCpp/options.txt
@@ -16,25 +16,25 @@ c++
 -I
 /home/jadey/Documents/frc/2025-Reefscape/trajoptlib/src/main/include
 -I
-/home/jadey/.gradle/caches/8.11/transforms/188bdfacfd1575729d62c3ffdc004502/transformed/wpilibc-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/53a9011fd7efcd6a2e8bfd3f21c8a678/transformed/wpilibc-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/a215936a413cf0cf857cc8c6f3a617ef/transformed/ntcore-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/e007ac1ce43ac7002240e392f502656a/transformed/ntcore-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/f6daf74b4fee88d5b154906067a13821/transformed/hal-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/d10353a5f411045835a3e342820132b1/transformed/hal-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/4632b34f694f2710e1b65141022e0a43/transformed/wpimath-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/02ec676971f66d9182bc7f1e64a1c757/transformed/wpimath-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/0899f3039bfd10b32536e440a7a62e3d/transformed/wpinet-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/92f79973f43a017fed3b925394e5bc09/transformed/wpinet-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/0d55a6ec567e432c3ea92a8c973ef938/transformed/wpiutil-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/dabccdc907ac00487f9c14aa5d409e2b/transformed/wpiutil-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/8c3de92822ae800f0f6d2da1e7506e4f/transformed/cameraserver-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/74055d7f1dbf261e0cf9e508957a2fec/transformed/cameraserver-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/e7d5b15118f7ea4e1c47eefceb3f48c6/transformed/cscore-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/80b6ed662b5a1a402c92a6afe70deacd/transformed/cscore-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/fd1f89d569b46d2e4cba3ec25cda0915/transformed/apriltag-cpp-2025.2.1-headers
+/home/jadey/.gradle/caches/8.11/transforms/64c3738b8c1d55bb1b29309d040b5f73/transformed/apriltag-cpp-2025.2.1-headers
 -I
-/home/jadey/.gradle/caches/8.11/transforms/ddfab50b6f089479a32d90c64d0ffef8/transformed/opencv-cpp-4.10.0-3-headers
+/home/jadey/.gradle/caches/8.11/transforms/da1da30eb945eb32e5a98a0cd6bac2bd/transformed/opencv-cpp-4.10.0-3-headers
 -isystem
 /usr/include/c++/14
 -isystem

diff --git a/trajoptlib/build/tmp/compileTrajoptLibReleaseStaticLibraryTrajoptLibCpp/output.txt b/trajoptlib/build/tmp/compileTrajoptLibReleaseStaticLibraryTrajoptLibCpp/output.txt
@@ -1,8 +1,8 @@
 See file:///home/jadey/Documents/frc/2025-Reefscape/trajoptlib/build/tmp/compileTrajoptLibReleaseStaticLibraryTrajoptLibCpp/output.txt for all output for compileTrajoptLibReleaseStaticLibraryTrajoptLibCpp.
 compiling Cancellation.cpp successful.
 
-compiling DifferentialTrajectoryGenerator.cpp successful.
-
 compiling SwerveTrajectoryGenerator.cpp successful.
 
+compiling DifferentialTrajectoryGenerator.cpp successful.
+
 Finished compileTrajoptLibReleaseStaticLibraryTrajoptLibCpp, see full log file:///home/jadey/Documents/frc/2025-Reefscape/trajoptlib/build/tmp/compileTrajoptLibReleaseStaticLibraryTrajoptLibCpp/output.txt.