Libcamera JNI Maven Support (#1105)

Download our libcamera JNI from Maven <3

build.gradle

@@ -12,6 +12,7 @@ allprojects {
         mavenCentral()
         mavenLocal()
         maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
     }
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -26,6 +27,7 @@ ext {
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
+    photonGlDriverLibVersion = "dev-v2023.1.0-6-g5e6f7fa"
     frcYear = "2024"
 
     pubVersion = versionString

photon-core/build.gradle

@@ -13,6 +13,9 @@ dependencies {
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
+
+    implementation "org.photonvision:photon-libcamera-gl-driver-jni:$photonGlDriverLibVersion:linuxarm64"
+    implementation "org.photonvision:photon-libcamera-gl-driver-java:$photonGlDriverLibVersion"
 }
 
 task writeCurrentVersion {

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -27,7 +27,7 @@ import org.photonvision.PhotonVersion;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.raspi.LibCameraJNI;
+import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
@@ -136,7 +136,7 @@ public class PhotonConfiguration {
         generalSubmap.put("version", PhotonVersion.versionString);
         generalSubmap.put(
                 "gpuAcceleration",
-                LibCameraJNI.isSupported()
+                LibCameraJNILoader.isSupported()
                         ? "Zerocopy Libcamera Working"
                         : ""); // TODO add support for other types of GPU accel
         generalSubmap.put("hardwareModel", hardwareConfig.deviceName);

photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java

@@ -1,210 +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.File;
-import java.io.IOException;
-import java.io.InputStream;
-import java.net.URL;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-
-public class LibCameraJNI {
-    private static boolean libraryLoaded = false;
-    private static final Logger logger = new Logger(LibCameraJNI.class, LogGroup.Camera);
-
-    public static synchronized void forceLoad() throws IOException {
-        if (libraryLoaded) return;
-
-        try {
-            File libDirectory = Path.of("lib/").toFile();
-            if (!libDirectory.exists()) {
-                Files.createDirectory(libDirectory.toPath()).toFile();
-            }
-
-            // We always extract the shared object (we could hash each so, but that's a lot of work)
-            URL resourceURL = LibCameraJNI.class.getResource("/nativelibraries/libphotonlibcamera.so");
-            File libFile = Path.of("lib/libphotonlibcamera.so").toFile();
-            try (InputStream in = resourceURL.openStream()) {
-                if (libFile.exists()) Files.delete(libFile.toPath());
-                Files.copy(in, libFile.toPath());
-            } catch (Exception e) {
-                logger.error("Could not extract the native library!");
-            }
-            System.load(libFile.getAbsolutePath());
-
-            libraryLoaded = true;
-            logger.info("Successfully loaded libpicam shared object");
-        } catch (UnsatisfiedLinkError e) {
-            logger.error("Couldn't load libpicam shared object");
-            e.printStackTrace();
-        }
-    }
-
-    public enum SensorModel {
-        Disconnected,
-        OV5647, // Picam v1
-        IMX219, // Picam v2
-        IMX708, // Picam v3
-        IMX477, // Picam HQ
-        OV9281,
-        OV7251,
-        Unknown;
-
-        public String getFriendlyName() {
-            switch (this) {
-                case Disconnected:
-                    return "Disconnected Camera";
-                case OV5647:
-                    return "Camera Module v1";
-                case IMX219:
-                    return "Camera Module v2";
-                case IMX708:
-                    return "Camera Module v3";
-                case IMX477:
-                    return "HQ Camera";
-                case OV9281:
-                    return "OV9281";
-                case OV7251:
-                    return "OV7251";
-                case Unknown:
-                default:
-                    return "Unknown Camera";
-            }
-        }
-    }
-
-    public static SensorModel getSensorModel(long r_ptr) {
-        int model = getSensorModelRaw(r_ptr);
-        return SensorModel.values()[model];
-    }
-
-    public static SensorModel getSensorModel(String name) {
-        int model = getSensorModelRaw(name);
-        return SensorModel.values()[model];
-    }
-
-    public static boolean isSupported() {
-        return libraryLoaded
-                // && getSensorModel() != PicamJNI.SensorModel.Disconnected
-                // && Platform.isRaspberryPi()
-                && isLibraryWorking();
-    }
-
-    private static native boolean isLibraryWorking();
-
-    public static native int getSensorModelRaw(long r_ptr);
-
-    public static native int getSensorModelRaw(String name);
-
-    // ======================================================== //
-
-    /**
-     * Creates a new runner with a given width/height/fps
-     *
-     * @param the path / name of the camera as given from libcamera.
-     * @param width Camera video mode width in pixels
-     * @param height Camera video mode height in pixels
-     * @param fps Camera video mode FPS
-     * @return the runner pointer for the camera.
-     */
-    public static native long createCamera(String name, int width, int height, int rotation);
-
-    /**
-     * Starts the camera thresholder and display threads running. Make sure that this function is
-     * called synchronously with stopCamera and returnFrame!
-     */
-    public static native boolean startCamera(long r_ptr);
-
-    /** Stops the camera runner. Make sure to call prior to destroying the camera! */
-    public static native boolean stopCamera(long r_ptr);
-
-    // Destroy all native resources associated with a camera. Ensure stop is called prior!
-    public static native boolean destroyCamera(long r_ptr);
-
-    // ======================================================== //
-
-    // Set thresholds on [0..1]
-    public static native boolean setThresholds(
-            long r_ptr,
-            double hl,
-            double sl,
-            double vl,
-            double hu,
-            double su,
-            double vu,
-            boolean hueInverted);
-
-    public static native boolean setAutoExposure(long r_ptr, boolean doAutoExposure);
-
-    // Exposure time, in microseconds
-    public static native boolean setExposure(long r_ptr, int exposureUs);
-
-    // Set brightness on [-1, 1]
-    public static native boolean setBrightness(long r_ptr, double brightness);
-
-    // Unknown ranges for red and blue AWB gain
-    public static native boolean setAwbGain(long r_ptr, double red, double blue);
-
-    /**
-     * Get the time when the first pixel exposure was started, in the same timebase as libcamera gives
-     * the frame capture time. Units are nanoseconds.
-     */
-    public static native long getFrameCaptureTime(long p_ptr);
-
-    /**
-     * Get the current time, in the same timebase as libcamera gives the frame capture time. Units are
-     * nanoseconds.
-     */
-    public static native long getLibcameraTimestamp();
-
-    public static native long setFramesToCopy(long r_ptr, boolean copyIn, boolean copyOut);
-
-    // Analog gain multiplier to apply to all color channels, on [1, Big Number]
-    public static native boolean setAnalogGain(long r_ptr, double analog);
-
-    /** Block until a new frame is available from native code. */
-    public static native long awaitNewFrame(long r_ptr);
-
-    /**
-     * Get a pointer to the most recent color mat generated. Call this immediately after
-     * awaitNewFrame, and call only once per new frame!
-     */
-    public static native long takeColorFrame(long pair_ptr);
-
-    /**
-     * Get a pointer to the most recent processed mat generated. Call this immediately after
-     * awaitNewFrame, and call only once per new frame!
-     */
-    public static native long takeProcessedFrame(long pair_ptr);
-
-    /**
-     * Set the GPU processing type we should do. Enum of [none, HSV, greyscale, adaptive threshold].
-     */
-    public static native boolean setGpuProcessType(long r_ptr, int type);
-
-    public static native int getGpuProcessType(long p_ptr);
-
-    /** Release a pair pointer back to the libcamera driver code to be filled again */
-    public static native boolean releasePair(long p_ptr);
-
-    /** Get an array containing the names/ids/paths of all connected CSI cameras from libcamera. */
-    public static native String[] getCameraNames();
-}

photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java

@@ -0,0 +1,75 @@
+/*
+ * 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.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public class LibCameraJNILoader {
+    private static boolean libraryLoaded = false;
+    private static final Logger logger = new Logger(LibCameraJNILoader.class, LogGroup.Camera);
+
+    public static synchronized void forceLoad() throws IOException {
+        if (libraryLoaded) return;
+
+        var libraryName = "photonlibcamera";
+
+        try {
+            // We always extract the shared object (we could hash each so, but that's a lot of work)
+            var arch_name = "linuxarm64";
+            var nativeLibName = System.mapLibraryName(libraryName);
+            var resourcePath = "/nativelibraries/" + arch_name + "/" + nativeLibName;
+            var in = LibCameraJNILoader.class.getResourceAsStream(resourcePath);
+
+            if (in == null) {
+                logger.error("Failed to find internal native library at path " + resourcePath);
+                libraryLoaded = false;
+                return;
+            }
+
+            // It's important that we don't mangle the names of these files on Windows at least
+            File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
+            FileOutputStream fos = new FileOutputStream(temp);
+
+            int read = -1;
+            byte[] buffer = new byte[1024];
+            while ((read = in.read(buffer)) != -1) {
+                fos.write(buffer, 0, read);
+            }
+            fos.close();
+            in.close();
+
+            System.load(temp.getAbsolutePath());
+
+            logger.info("Successfully loaded shared object " + temp.getName());
+
+        } catch (UnsatisfiedLinkError e) {
+            logger.error("Couldn't load shared object " + libraryName, e);
+            e.printStackTrace();
+            // logger.error(System.getProperty("java.library.path"));
+        }
+        libraryLoaded = true;
+    }
+
+    public static boolean isSupported() {
+        return libraryLoaded && LibCameraJNI.isSupported();
+    }
+}

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -33,6 +33,7 @@ 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.CameraInfo;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.CameraType;
@@ -98,7 +99,7 @@ public class VisionSourceManager {
      */
     protected List<CameraInfo> getConnectedCSICameras() {
         List<CameraInfo> cameraInfos = new ArrayList<CameraInfo>();
-        if (LibCameraJNI.isSupported())
+        if (LibCameraJNILoader.isSupported())
             for (String path : LibCameraJNI.getCameraNames()) {
                 String name = LibCameraJNI.getSensorModel(path).getFriendlyName();
                 cameraInfos.add(

photon-server/src/main/java/org/photonvision/Main.java

@@ -37,7 +37,7 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.numbers.IntegerCouple;
-import org.photonvision.raspi.LibCameraJNI;
+import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
 import org.photonvision.vision.camera.FileVisionSource;
 import org.photonvision.vision.opencv.CVMat;
@@ -311,7 +311,7 @@ public class Main {
 
         try {
             if (Platform.isRaspberryPi()) {
-                LibCameraJNI.forceLoad();
+                LibCameraJNILoader.forceLoad();
             }
         } catch (IOException e) {
             logger.error("Failed to load libcamera-JNI!", e);