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Create timesync JNI for testing client (#1433)

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This commit is contained in:
Matt
2024-10-31 08:27:19 -07:00
committed by GitHub
parent 937bafa8e2
commit 37aaa49b32
69 changed files with 2252 additions and 368 deletions
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23
photon-server/src/main/java/org/photonvision/Main.java
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@@ -17,6 +17,7 @@
package org.photonvision;
import edu.wpi.first.hal.HAL;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
@@ -39,6 +40,7 @@ import org.photonvision.common.logging.PvCSCoreLogger;
import org.photonvision.common.networking.NetworkManager;
import org.photonvision.common.util.TestUtils;
import org.photonvision.common.util.numbers.IntegerCouple;
import org.photonvision.jni.PhotonTargetingJniLoader;
import org.photonvision.jni.RknnDetectorJNI;
import org.photonvision.mrcal.MrCalJNILoader;
import org.photonvision.raspi.LibCameraJNILoader;
@@ -379,7 +381,25 @@ public class Main {
logger.error("Failed to load native libraries!", e);
System.exit(1);
}
logger.info("Native libraries loaded.");
logger.info("WPI JNI libraries loaded.");
try {
boolean success = PhotonTargetingJniLoader.load();
if (!success) {
logger.error("Failed to load native libraries! Giving up :(");
System.exit(1);
}
} catch (Exception e) {
logger.error("Failed to load photon-targeting JNI!", e);
System.exit(1);
}
logger.info("photon-targeting JNI libraries loaded.");
if (!HAL.initialize(500, 0)) {
logger.error("Failed to initialize the HAL! Giving up :(");
System.exit(1);
}
try {
if (Platform.isRaspberryPi()) {
@@ -438,6 +458,7 @@ public class Main {
logger.debug("Loading NetworkTablesManager...");
NetworkTablesManager.getInstance()
.setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
NetworkTablesManager.getInstance().registerTimedTasks();
if (isSmoketest) {
logger.info("PhotonVision base functionality loaded -- smoketest complete");