Add macOS support

.github/workflows/main.yml

@@ -24,6 +24,9 @@ jobs:
           - os: windows-latest
             arch-name: windowsx86-64
             extra-flags: -DCMAKE_CXX_COMPILER=clang-cl -DCMAKE_C_COMPILER=clang-cl
+          - os: macos-latest
+            arch-name: osxuniversal
+            extra-flags: -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64"
 
     runs-on: ${{ matrix.os }}
     name: "mrcal-jni - Build - ${{ matrix.arch-name }}"
@@ -44,12 +47,16 @@ jobs:
         java-version: 17
         distribution: temurin
 
-    - name: Install deps
+    - name: Install deps (Linux)
       if: runner.os == 'Linux'
       run: |
         sudo apt update
         sudo apt-get install -y cmake ninja-build gcc g++ liblist-moreutils-perl
 
+    - name: Install deps (macOS)
+      if: runner.os == 'macOS'
+      run: sudo cpan -i List::MoreUtils
+
     - name: Configure CMake
       # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
       # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type

CMakeLists.txt

@@ -44,6 +44,7 @@ file(
     GLOB_RECURSE OPENCV_LIB_PATH
     "${opencv_lib_SOURCE_DIR}/**/*.lib"
     "${opencv_lib_SOURCE_DIR}/**/*.so*"
+    "${opencv_lib_SOURCE_DIR}/**/*.*.dylib"
 )
 set(OPENCV_INCLUDE_PATH ${opencv_header_SOURCE_DIR})
 message("Depending on opencv ${OPENCV_LIB_PATH}")
@@ -66,43 +67,49 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 # Silence OpenBLAS/LAPACK warnings
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -w")
-set(BLA_VENDOR OpenBLAS)
-FetchContent_Declare(
-    BLAS
-    GIT_REPOSITORY https://github.com/OpenMathLib/OpenBLAS.git
-    GIT_TAG v0.3.30
-    OVERRIDE_FIND_PACKAGE
-)
-FetchContent_MakeAvailable(BLAS)
-
-if(TARGET openblas)
-    set(OPENBLAS_TARGET openblas)
-    message(STATUS "Using openblas target")
-elseif(TARGET OpenBLAS)
-    set(OPENBLAS_TARGET OpenBLAS)
-    message(STATUS "Using OpenBLAS target")
-elseif(TARGET libopenblas)
-    set(OPENBLAS_TARGET libopenblas)
-    message(STATUS "Using libopenblas target")
-else()
-    # Fallback: find the library file manually
-    find_library(
-        OPENBLAS_LIB
-        NAMES openblas libopenblas
-        PATHS
-            ${openblas_external_BINARY_DIR}
-            ${openblas_external_BINARY_DIR}/lib
-            ${openblas_external_BINARY_DIR}/lib/Release
-        NO_DEFAULT_PATH
-        REQUIRED
-    )
-    message(STATUS "Using OpenBLAS library file: ${OPENBLAS_LIB}")
-    add_library(openblas_imported STATIC IMPORTED)
-    set_target_properties(
-        openblas_imported
-        PROPERTIES IMPORTED_LOCATION ${OPENBLAS_LIB}
+if(NOT APPLE)
+    set(BLA_VENDOR OpenBLAS)
+    FetchContent_Declare(
+        BLAS
+        GIT_REPOSITORY https://github.com/OpenMathLib/OpenBLAS.git
+        GIT_TAG v0.3.30
+        OVERRIDE_FIND_PACKAGE
     )
-    set(OPENBLAS_TARGET openblas_imported)
+    FetchContent_MakeAvailable(BLAS)
+
+    if(TARGET openblas)
+        set(OPENBLAS_TARGET openblas)
+        message(STATUS "Using openblas target")
+    elseif(TARGET OpenBLAS)
+        set(OPENBLAS_TARGET OpenBLAS)
+        message(STATUS "Using OpenBLAS target")
+    elseif(TARGET libopenblas)
+        set(OPENBLAS_TARGET libopenblas)
+        message(STATUS "Using libopenblas target")
+    else()
+        # Fallback: find the library file manually
+        find_library(
+            OPENBLAS_LIB
+            NAMES openblas libopenblas
+            PATHS
+                ${openblas_external_BINARY_DIR}
+                ${openblas_external_BINARY_DIR}/lib
+                ${openblas_external_BINARY_DIR}/lib/Release
+            NO_DEFAULT_PATH
+            REQUIRED
+        )
+        message(STATUS "Using OpenBLAS library file: ${OPENBLAS_LIB}")
+        add_library(openblas_imported STATIC IMPORTED)
+        set_target_properties(
+            openblas_imported
+            PROPERTIES IMPORTED_LOCATION ${OPENBLAS_LIB}
+        )
+        set(OPENBLAS_TARGET openblas_imported)
+    endif()
+else()
+    set(BLA_VENDOR Apple)
+    add_compile_definitions(ACCELERATE_NEW_LAPACK=1)
+    find_package(BLAS)
 endif()
 
 # Configure SuiteSparse to use BLAS
@@ -128,7 +135,11 @@ get_target_property(
     INTERFACE_LINK_LIBRARIES
 )
 message(STATUS "CHOLMOD links to: ${CHOLMOD_LIBS}")
-message(STATUS "BLAS is at: ${OPENBLAS_TARGET}")
+if(NOT APPLE)
+    message(STATUS "BLAS is at: ${OPENBLAS_TARGET}")
+else()
+    message(STATUS "BLAS is using Apple Accelerate")
+endif()
 
 # And pull in JNI
 find_package(JNI)
@@ -195,6 +206,11 @@ target_link_libraries(
     lapack
 )
 
+# vnlog for the test script
+set(VNLOG_SRC_CPP vnlog/b64_cencode.c vnlog/vnlog-parser.c vnlog/vnlog.c)
+add_library(vnlog STATIC ${VNLOG_SRC_CPP})
+target_include_directories(vnlog SYSTEM PUBLIC ${PROJECT_SOURCE_DIR}/vnlog)
+
 # Test script for checking our linker
 add_executable(mrcal_jni_test src/mrcal_test.cpp)
 target_link_libraries(mrcal_jni_test PUBLIC mrcal_jni)
@@ -203,11 +219,8 @@ target_include_directories(
     SYSTEM
     PRIVATE ${PROJECT_SOURCE_DIR}/vnlog
 )
-# add_dependencies(mrcal_jni_test )
-target_link_libraries(
-    mrcal_jni_test
-    PRIVATE ${OpenCV_LIBS} ${PROJECT_SOURCE_DIR}/vnlog/libvnlog.so
-)
+add_dependencies(mrcal_jni_test mrcal_jni vnlog)
+target_link_libraries(mrcal_jni_test PRIVATE ${OpenCV_LIBS} vnlog)
 
 if(WITH_ASAN)
     target_link_libraries(

README.md

@@ -4,10 +4,18 @@ See: http://mrcal.secretsauce.net/install.html
 
 - Install cmake
 
-```
+```bash
 sudo apt install cmake gcc g++ libmrcal-dev
 cmake -B build . # You may need to add JAVA_HOME=/path/to/java
 cmake --build build
 ```
 
 For windows: `cmake -B build -S . -T ClangCl -A x64 -G "Visual Studio 17 2022"
+
+For macOS:
+
+```bash
+cpan -i List::MoreUtils
+cmake -B build -DOPENCV_ARCH=osxuniversal -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64"
+cmake --build build
+```

build.gradle

@@ -57,7 +57,10 @@ test {
     useJUnitPlatform()
 }
 
-ext.nativeName = wpilibTools.platformMapper.currentPlatform.platformName.replace('win', 'windows/').replace('mac', 'osx/').replace('linux', 'linux/').replace('x64', 'x86-64');
+ext.nativeName = wpilibTools.platformMapper.wpilibClassifier
+    .replace('windows', 'windows/')
+    .replace('osx', 'osx/')
+    .replace('linux', 'linux/')
 ext.outputsFolder = file("$buildDir/outputs")
 
 println("Building for $nativeName")
@@ -67,7 +70,7 @@ tasks.register('copyNativeLibrary', Sync) {
     from "${projectDir}/cmake_build/lib/"
     // Hardcode to shared because we're not building static ever
     into "${outputsFolder}/${nativeName}/shared/"
-    include "**/*.dll", "**/*.so"
+    include "**/*.dll", "**/*.so", "**/*.dylib"
     includeEmptyDirs = false
 
     build.dependsOn it

publish.gradle

@@ -1,6 +1,6 @@
 apply plugin: 'maven-publish'
 
-def nativeName = wpilibTools.platformMapper.currentPlatform.platformName;
+def nativeName = wpilibTools.platformMapper.wpilibClassifier;
 def artifactGroupId = 'org.photonvision'
 def baseArtifactId = "photon-mrcal"
 

src/mrcal_test.cpp

@@ -15,8 +15,8 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include <malloc.h>
 #include <stdint.h>
+#include <stdlib.h>
 
 #include <algorithm>
 #include <chrono>

src/mrcal_wrapper.cpp

@@ -32,8 +32,8 @@
 
 #include "mrcal_wrapper.h"
 
-#include <malloc.h>
 #include <stdint.h>
+#include <stdlib.h>
 
 #include <algorithm>
 #include <chrono>

src/mrcal_wrapper.h

@@ -35,6 +35,7 @@
 extern "C" {
 // Seems to be missing C++ guards
 #include <mrcal.h>
+
 } // extern "C"
 
 #include <memory>