Remove PhotonJNICommon in favor of CombinedRuntimeLoader (#2223)

## Description PhotonJNICommon is just our implementation of combined runtime loader, which we don't really need. This removes it and just uses CombinedRuntimeLoader directly. This also fixes the issues introduced in #2219, which lead to some of our JNIs not loading. ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_ - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [x] If this PR addresses a bug, a regression test for it is added --------- Co-authored-by: Matt M <matthew.morley.ca@gmail.com>
2026-07-03 03:01:40 +00:00 · 2025-12-09 02:39:41 -06:00
parent 0c4c310c66
commit 1bb05a0e3e
37 changed files with 169 additions and 388 deletions
--- a/photon-core/src/main/java/org/photonvision/common/LoadJNI.java
+++ b/photon-core/src/main/java/org/photonvision/common/LoadJNI.java
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common;
+
+import edu.wpi.first.util.CombinedRuntimeLoader;
+import java.io.IOException;
+import java.util.HashMap;
+import org.photonvision.jni.LibraryLoader;
+
+public class LoadJNI {
+    private static HashMap<JNITypes, Boolean> loadedMap = new HashMap<>();
+
+    public enum JNITypes {
+        RUBIK_DETECTOR("tensorflowlite", "tensorflowlite_c", "external_delegate", "rubik_jni"),
+        RKNN_DETECTOR("rga", "rknnrt", "rknn_jni"),
+        MRCAL("mrcal_jni"),
+        LIBCAMERA("photonlibcamera");
+
+        public final String[] libraries;
+
+        JNITypes(String... libraries) {
+            this.libraries = libraries;
+        }
+    }
+
+    public static synchronized void forceLoad(JNITypes type) throws IOException {
+        loadLibraries();
+
+        if (loadedMap.getOrDefault(type, false)) {
+            return;
+        }
+
+        CombinedRuntimeLoader.loadLibraries(LoadJNI.class, type.libraries);
+        loadedMap.put(type, true);
+    }
+
+    public static boolean loadLibraries() {
+        return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
+    }
+
+    public static boolean hasLoaded(JNITypes t) {
+        return loadedMap.getOrDefault(t, false);
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java
@@ -19,14 +19,14 @@ package org.photonvision.common.dataflow.websocket;

 import java.util.List;
 import org.photonvision.PhotonVersion;
+import org.photonvision.common.LoadJNI;
+import org.photonvision.common.LoadJNI.JNITypes;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
 import org.photonvision.common.configuration.PhotonConfiguration;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.networking.NetworkUtils;
-import org.photonvision.common.util.TestUtils;
-import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionSourceManager;

@@ -53,8 +53,8 @@ public class UIPhotonConfiguration {
                        new UIGeneralSettings(
                                PhotonVersion.versionString,
                                // TODO add support for other types of GPU accel
-                                LibCameraJNILoader.getInstance().isSupported() ? "Zerocopy Libcamera Working" : "",
-                                TestUtils.isMrcalLoaded(),
+                                LoadJNI.hasLoaded(JNITypes.LIBCAMERA) ? "Zerocopy Libcamera Working" : "",
+                                LoadJNI.hasLoaded(JNITypes.MRCAL),
                                c.neuralNetworkPropertyManager().getModels(),
                                NeuralNetworkModelManager.getInstance().getSupportedBackends(),
                                c.getHardwareConfig().deviceName.isEmpty()
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -20,41 +20,17 @@ package org.photonvision.common.util;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.awt.HeadlessException;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Path;
 import org.opencv.core.Mat;
 import org.opencv.highgui.HighGui;
-import org.photonvision.jni.LibraryLoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;

 public class TestUtils {
-    private static boolean hasMrcalLoaded = false;
-
-    public static boolean loadLibraries() {
-        return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
-    }
-
-    public static boolean loadMrcal() {
-        if (hasMrcalLoaded) return true;
-        try {
-            CombinedRuntimeLoader.loadLibraries(TestUtils.class, "mrcal_jni");
-            hasMrcalLoaded = true;
-        } catch (IOException e) {
-            e.printStackTrace();
-            hasMrcalLoaded = false;
-        }
-        return hasMrcalLoaded;
-    }
-
-    public static boolean isMrcalLoaded() {
-        return hasMrcalLoaded;
-    }
-
    @SuppressWarnings("unused")
    public enum WPI2019Image {
        kCargoAngledDark48in(1.2192),
--- a/photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java
+++ b/photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java
@@ -1,76 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.jni;
-
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.StandardCopyOption;
-import java.util.List;
-import org.photonvision.common.hardware.Platform;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-
-public abstract class PhotonJNICommon {
-    public abstract boolean isLoaded();
-
-    public abstract void setLoaded(boolean state);
-
-    protected static Logger logger = null;
-
-    protected static synchronized void forceLoad(
-            PhotonJNICommon instance, Class<?> clazz, List<String> libraries) throws IOException {
-        if (instance.isLoaded()) return;
-        if (logger == null) logger = new Logger(clazz, LogGroup.General);
-
-        for (var libraryName : libraries) {
-            logger.info("Loading " + libraryName);
-            // We always extract the shared object (we could hash each so, but that's a lot
-            // of work)
-            var arch_name = Platform.getNativeLibraryFolderName();
-            var nativeLibName = System.mapLibraryName(libraryName);
-            try (var in =
-                    clazz.getResourceAsStream("/nativelibraries/" + arch_name + "/" + nativeLibName)) {
-                if (in == null) {
-                    logger.error("Could not find " + libraryName);
-                    instance.setLoaded(false);
-                    return;
-                }
-
-                // It's important that we don't mangle the names of these files
-                var temp = Files.createTempDirectory("nativeExtract").resolve(nativeLibName);
-                Files.copy(in, temp, StandardCopyOption.REPLACE_EXISTING);
-
-                try {
-                    System.load(temp.toAbsolutePath().toString());
-                    logger.info("Successfully loaded shared object " + temp.getFileName());
-                } catch (UnsatisfiedLinkError e) {
-                    logger.error("Couldn't load shared object " + libraryName, e);
-                    e.printStackTrace();
-                    instance.setLoaded(false);
-                    return;
-                }
-            }
-        }
-        instance.setLoaded(true);
-    }
-
-    protected static synchronized void forceLoad(
-            PhotonJNICommon instance, Class<?> clazz, String libraryName) throws IOException {
-        forceLoad(instance, clazz, List.of(libraryName));
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/jni/RknnDetectorJNI.java
+++ b/photon-core/src/main/java/org/photonvision/jni/RknnDetectorJNI.java
@@ -1,53 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.jni;
-
-import java.io.IOException;
-import java.util.List;
-import org.photonvision.common.util.TestUtils;
-
-public class RknnDetectorJNI extends PhotonJNICommon {
-    private boolean isLoaded;
-    private static RknnDetectorJNI instance = null;
-
-    private RknnDetectorJNI() {
-        isLoaded = false;
-    }
-
-    public static RknnDetectorJNI getInstance() {
-        if (instance == null) instance = new RknnDetectorJNI();
-
-        return instance;
-    }
-
-    public static synchronized void forceLoad() throws IOException {
-        TestUtils.loadLibraries();
-
-        forceLoad(getInstance(), RknnDetectorJNI.class, List.of("rga", "rknnrt", "rknn_jni"));
-    }
-
-    @Override
-    public boolean isLoaded() {
-        return isLoaded;
-    }
-
-    @Override
-    public void setLoaded(boolean state) {
-        isLoaded = state;
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/jni/RubikDetectorJNI.java
+++ b/photon-core/src/main/java/org/photonvision/jni/RubikDetectorJNI.java
@@ -1,56 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.jni;
-
-import java.io.IOException;
-import java.util.List;
-import org.photonvision.common.util.TestUtils;
-
-public class RubikDetectorJNI extends PhotonJNICommon {
-    private boolean isLoaded;
-    private static RubikDetectorJNI instance = null;
-
-    private RubikDetectorJNI() {
-        isLoaded = false;
-    }
-
-    public static RubikDetectorJNI getInstance() {
-        if (instance == null) instance = new RubikDetectorJNI();
-
-        return instance;
-    }
-
-    public static synchronized void forceLoad() throws IOException {
-        TestUtils.loadLibraries();
-
-        forceLoad(
-                getInstance(),
-                RubikDetectorJNI.class,
-                List.of("tensorflowlite", "tensorflowlite_c", "external_delegate", "rubik_jni"));
-    }
-
-    @Override
-    public boolean isLoaded() {
-        return isLoaded;
-    }
-
-    @Override
-    public void setLoaded(boolean state) {
-        isLoaded = state;
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
@@ -1,53 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.raspi;
-
-import java.io.IOException;
-import java.util.List;
-import org.photonvision.jni.PhotonJNICommon;
-
-/** Helper for extracting photon-libcamera-gl-driver shared library files. */
-public class LibCameraJNILoader extends PhotonJNICommon {
-    private boolean libraryLoaded = false;
-    private static LibCameraJNILoader instance = null;
-
-    public static synchronized LibCameraJNILoader getInstance() {
-        if (instance == null) instance = new LibCameraJNILoader();
-
-        return instance;
-    }
-
-    public static synchronized void forceLoad() throws IOException {
-        forceLoad(
-                LibCameraJNILoader.getInstance(), LibCameraJNILoader.class, List.of("photonlibcamera"));
-    }
-
-    @Override
-    public boolean isLoaded() {
-        return libraryLoaded;
-    }
-
-    @Override
-    public void setLoaded(boolean state) {
-        libraryLoaded = state;
-    }
-
-    public boolean isSupported() {
-        return libraryLoaded && LibCameraJNI.isSupported();
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/objects/RknnObjectDetector.java
+++ b/photon-core/src/main/java/org/photonvision/vision/objects/RknnObjectDetector.java
@@ -26,13 +26,12 @@ import org.opencv.core.Size;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ColorHelper;
-import org.photonvision.jni.RknnDetectorJNI;
 import org.photonvision.rknn.RknnJNI;
 import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;

 /** Manages an object detector using the rknn backend. */
 public class RknnObjectDetector implements ObjectDetector {
-    private static final Logger logger = new Logger(RknnDetectorJNI.class, LogGroup.General);
+    private static final Logger logger = new Logger(RknnObjectDetector.class, LogGroup.General);

    /** Cleaner instance to release the detector when it goes out of scope */
    private final Cleaner cleaner = Cleaner.create();
--- a/photon-core/src/main/java/org/photonvision/vision/objects/RubikObjectDetector.java
+++ b/photon-core/src/main/java/org/photonvision/vision/objects/RubikObjectDetector.java
@@ -26,13 +26,12 @@ import org.opencv.core.Size;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ColorHelper;
-import org.photonvision.jni.RubikDetectorJNI;
 import org.photonvision.rubik.RubikJNI;
 import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;

 /** Manages an object detector using the rubik backend. */
 public class RubikObjectDetector implements ObjectDetector {
-    private static final Logger logger = new Logger(RubikDetectorJNI.class, LogGroup.General);
+    private static final Logger logger = new Logger(RubikObjectDetector.class, LogGroup.General);

    /** Cleaner instance to release the detector when it goes out of scope */
    private final Cleaner cleaner = Cleaner.create();
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -27,9 +27,10 @@ import org.apache.commons.io.FileUtils;
 import org.opencv.calib3d.Calib3d;
 import org.opencv.core.*;
 import org.opencv.imgcodecs.Imgcodecs;
+import org.photonvision.common.LoadJNI;
+import org.photonvision.common.LoadJNI.JNITypes;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.mrcal.MrCalJNI;
 import org.photonvision.mrcal.MrCalJNI.MrCalResult;
@@ -94,7 +95,7 @@ public class Calibrate3dPipe
        CameraCalibrationCoefficients ret;
        var start = System.nanoTime();

-        if (TestUtils.isMrcalLoaded() && params.useMrCal) {
+        if (LoadJNI.hasLoaded(JNITypes.MRCAL) && params.useMrCal) {
            logger.debug("Calibrating with mrcal!");
            ret =
                    calibrateMrcal(
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -27,6 +27,8 @@ import java.util.Optional;
 import java.util.function.Predicate;
 import java.util.regex.Pattern;
 import java.util.stream.Stream;
+import org.photonvision.common.LoadJNI;
+import org.photonvision.common.LoadJNI.JNITypes;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.DataChangeService;
@@ -40,7 +42,6 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.raspi.LibCameraJNI;
-import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.camera.CameraType;
 import org.photonvision.vision.camera.FileVisionSource;
 import org.photonvision.vision.camera.PVCameraInfo;
@@ -301,7 +302,7 @@ public class VisionSourceManager {
                .filter(c -> !(String.join("", c.otherPaths()).contains("csi-video")))
                .filter(c -> !c.name().equals("unicam"))
                .forEach(cameraInfos::add);
-        if (LibCameraJNILoader.getInstance().isSupported()) {
+        if (LoadJNI.hasLoaded(JNITypes.LIBCAMERA)) {
            // find all CSI cameras (Raspberry Pi cameras)
            Stream.of(LibCameraJNI.getCameraNames())
                    .map(
--- a/photon-core/src/test/java/org/photonvision/common/BenchmarkTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/BenchmarkTest.java
@@ -40,7 +40,7 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 public class BenchmarkTest {
    @BeforeAll
    public static void init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
--- a/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
@@ -56,7 +56,7 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 public class ShapeBenchmarkTest {
    @BeforeAll
    public static void init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
--- a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -28,10 +28,10 @@ import java.nio.file.Path;
 import java.nio.file.Paths;
 import org.apache.commons.io.FileUtils;
 import org.junit.jupiter.api.*;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
@@ -51,7 +51,7 @@ public class ConfigTest {

    @BeforeAll
    public static void init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        var path = Path.of("testconfigdir");
        configMgr = new ConfigManager(path, new LegacyConfigProvider(path));
        configMgr.load();
@@ -79,7 +79,7 @@ public class ConfigTest {
    @Test
    @Order(1)
    public void serializeConfig() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();

        Logger.setLevel(LogGroup.General, LogLevel.TRACE);
        configMgr.getConfig().addCameraConfig(cameraConfig);
--- a/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
@@ -27,6 +27,7 @@ import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Order;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.io.TempDir;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.PVCameraInfo;
@@ -39,7 +40,7 @@ public class SQLConfigTest {

    @BeforeAll
    public static void init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
--- a/photon-core/src/test/java/org/photonvision/common/util/CoordinateConversionTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/util/CoordinateConversionTest.java
@@ -25,12 +25,13 @@ import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.util.math.MathUtils;

 public class CoordinateConversionTest {
    @BeforeAll
    public static void Init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
--- a/photon-core/src/test/java/org/photonvision/hardware/HardwareTest.java
+++ b/photon-core/src/test/java/org/photonvision/hardware/HardwareTest.java
@@ -21,17 +21,17 @@ import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;

 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.hardware.GPIO.CustomGPIO;
 import org.photonvision.common.hardware.GPIO.GPIOBase;
 import org.photonvision.common.hardware.GPIO.pi.PigpioPin;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.hardware.metrics.MetricsManager;
-import org.photonvision.common.util.TestUtils;

 public class HardwareTest {
    @Test
    public void testHardware() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        MetricsManager mm = new MetricsManager();

        if (!Platform.isRaspberryPi()) return;
--- a/photon-core/src/test/java/org/photonvision/vision/frame/provider/FileFrameProviderTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/frame/provider/FileFrameProviderTest.java
@@ -23,13 +23,14 @@ import java.nio.file.Files;
 import java.nio.file.Paths;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.frame.Frame;

 public class FileFrameProviderTest {
    @BeforeAll
    public static void initPath() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
--- a/photon-core/src/test/java/org/photonvision/vision/opencv/ContourTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/opencv/ContourTest.java
@@ -25,12 +25,12 @@ import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.opencv.core.MatOfPoint;
 import org.opencv.core.Point;
-import org.photonvision.common.util.TestUtils;
+import org.photonvision.common.LoadJNI;

 public class ContourTest {
    @BeforeEach
    public void Init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
@@ -22,6 +22,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import edu.wpi.first.math.geometry.Translation3d;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.apriltag.AprilTagFamily;
@@ -33,7 +34,7 @@ import org.photonvision.vision.target.TargetModel;
 public class AprilTagTest {
    @BeforeEach
    public void setup() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        ConfigManager.getInstance().load();
    }

--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
@@ -22,6 +22,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import edu.wpi.first.math.geometry.Translation3d;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.apriltag.AprilTagFamily;
@@ -33,7 +34,7 @@ import org.photonvision.vision.target.TargetModel;
 public class ArucoPipelineTest {
    @BeforeEach
    public void setup() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        ConfigManager.getInstance().load();
    }

--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -32,6 +32,7 @@ import org.opencv.calib3d.Calib3d;
 import org.opencv.core.Mat;
 import org.opencv.core.Size;
 import org.opencv.imgcodecs.Imgcodecs;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
@@ -50,8 +51,8 @@ import org.photonvision.vision.pipeline.UICalibrationData.TagFamily;
 public class Calibrate3dPipeTest {
    @BeforeAll
    public static void init() throws IOException {
-        TestUtils.loadLibraries();
-        TestUtils.loadMrcal();
+        LoadJNI.loadLibraries();
+        LoadJNI.forceLoad(LoadJNI.JNITypes.MRCAL);

        var logLevel = LogLevel.DEBUG;
        Logger.setLevel(LogGroup.Camera, logLevel);
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
@@ -29,11 +29,11 @@ import org.junitpioneer.jupiter.cartesian.CartesianTest;
 import org.junitpioneer.jupiter.cartesian.CartesianTest.Enum;
 import org.opencv.core.Point;
 import org.opencv.core.Size;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.TestUtils;
 import org.photonvision.estimation.OpenCVHelp;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.calibration.CameraLensModel;
@@ -48,8 +48,8 @@ import org.photonvision.vision.target.TrackedTarget;
 public class CalibrationRotationPipeTest {
    @BeforeAll
    public static void init() throws IOException {
-        TestUtils.loadLibraries();
-        TestUtils.loadMrcal();
+        LoadJNI.loadLibraries();
+        LoadJNI.forceLoad(LoadJNI.JNITypes.MRCAL);

        var logLevel = LogLevel.DEBUG;
        Logger.setLevel(LogGroup.Camera, logLevel);
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
@@ -22,6 +22,7 @@ import static org.junit.jupiter.api.Assertions.assertNotNull;

 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.QuirkyCamera;
@@ -40,7 +41,7 @@ public class CirclePNPTest {

    @BeforeEach
    public void Init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
@@ -132,7 +133,7 @@ public class CirclePNPTest {

    // used to run VisualVM for profiling, which won't run on unit tests.
    public static void main(String[] args) {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        var frameProvider =
                new FileFrameProvider(
                        TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
@@ -18,6 +18,7 @@
 package org.photonvision.vision.pipeline;

 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
@@ -89,7 +90,7 @@ public class ColoredShapePipelineTest {
    }

    public static void main(String[] args) {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        System.out.println(
                TestUtils.getWPIImagePath(TestUtils.WPI2020Image.kBlueGoal_108in_Center, false));
        var frameProvider =
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
@@ -21,6 +21,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;

 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
@@ -34,7 +35,7 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 public class ReflectivePipelineTest {
    @Test
    public void test2019() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        var pipeline = new ReflectivePipeline();
        pipeline.getSettings().hsvHue.set(60, 100);
        pipeline.getSettings().hsvSaturation.set(100, 255);
@@ -72,7 +73,7 @@ public class ReflectivePipelineTest {

    @Test
    public void test2020() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        var pipeline = new ReflectivePipeline();

        pipeline.getSettings().hsvHue.set(60, 100);
@@ -108,7 +109,7 @@ public class ReflectivePipelineTest {

    // used to run VisualVM for profiling. It won't run on unit tests.
    public static void main(String[] args) {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        var frameProvider =
                new FileFrameProvider(
                        TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
@@ -26,6 +26,7 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.QuirkyCamera;
@@ -44,7 +45,7 @@ public class SolvePNPTest {

    @BeforeEach
    public void Init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
@@ -213,7 +214,7 @@ public class SolvePNPTest {

    // used to run VisualVM for profiling, which won't run on unit tests.
    public static void main(String[] args) {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        var frameProvider =
                new FileFrameProvider(
                        TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark72in_HighRes, false),
--- a/photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java
@@ -23,15 +23,15 @@ import java.util.ArrayList;
 import java.util.List;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.pipeline.PipelineType;

 public class PipelineManagerTest {
    @BeforeAll
    public static void init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -27,6 +27,7 @@ import java.util.HashMap;
 import java.util.List;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
@@ -46,7 +47,7 @@ public class VisionModuleManagerTest {
        String classpathStr = System.getProperty("java.class.path");
        System.out.print(classpathStr);

-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
        if (!LibraryLoader.loadTargeting()) fail();
    }

--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
@@ -29,6 +29,7 @@ import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.util.TestUtils;
@@ -58,7 +59,7 @@ public class VisionSourceManagerTest {

    @BeforeAll
    public static void loadLibraries() {
-        assertTrue(TestUtils.loadLibraries());
+        assertTrue(LoadJNI.loadLibraries());

        // Broadcast all still calls into configmanager (ew) so set that up here
        ConfigManager.getInstance().load();
--- a/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
@@ -32,7 +32,7 @@ import org.junit.jupiter.params.provider.MethodSource;
 import org.opencv.calib3d.Calib3d;
 import org.opencv.core.*;
 import org.opencv.imgproc.Imgproc;
-import org.photonvision.common.util.TestUtils;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.calibration.CameraLensModel;
@@ -63,7 +63,7 @@ public class TargetCalculationsTest {

    @BeforeAll
    public static void setup() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test
--- a/photon-core/src/test/java/org/photonvision/vision/target/TrackedTargetTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/target/TrackedTargetTest.java
@@ -25,14 +25,14 @@ import org.junit.jupiter.api.Test;
 import org.opencv.core.MatOfPoint;
 import org.opencv.core.Point;
 import org.opencv.core.Size;
-import org.photonvision.common.util.TestUtils;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.vision.opencv.Contour;
 import org.photonvision.vision.opencv.DualOffsetValues;

 public class TrackedTargetTest {
    @BeforeEach
    public void Init() {
-        TestUtils.loadLibraries();
+        LoadJNI.loadLibraries();
    }

    @Test