Use the tool plugin to include photon-targeting into photon-core (#2137)

## Description This allows photon-targeting to be loaded using the same mechanism as the rest of the WPILib libraries, fixing issues with libraries not being able to find and load their dependent libraries. ## 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_ - [x] 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 - [ ] If this PR addresses a bug, a regression test for it is added
2026-07-03 03:01:40 +00:00 · 2025-10-20 10:45:54 -04:00
parent b531fe6b81
commit 4f549ba579
21 changed files with 100 additions and 280 deletions
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -8,24 +8,26 @@ apply from: "${rootDir}/shared/common.gradle"
 wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()

 def nativeConfigName = 'wpilibNatives'
-def nativeConfig = configurations.create(nativeConfigName)
-
+configurations {
+    wpilibNatives
+}
 def nativeTasks = wpilibTools.createExtractionTasks {
    configurationName = nativeConfigName
 }

 nativeTasks.addToSourceSetResources(sourceSets.main)

-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
-
 dependencies {
+    wpilibNatives project(path: ':photon-targeting', configuration: 'wpilibNatives')
+    wpilibNatives wpilibTools.deps.wpilib("wpimath")
+    wpilibNatives wpilibTools.deps.wpilib("wpinet")
+    wpilibNatives wpilibTools.deps.wpilib("wpiutil")
+    wpilibNatives wpilibTools.deps.wpilib("ntcore")
+    wpilibNatives wpilibTools.deps.wpilib("cscore")
+    wpilibNatives wpilibTools.deps.wpilib("apriltag")
+    wpilibNatives wpilibTools.deps.wpilib("hal")
+    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
+
    // Zip
    implementation 'org.zeroturnaround:zt-zip:1.14'

--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/TimeSyncManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/TimeSyncManager.java
@@ -25,7 +25,6 @@ import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.jni.TimeSyncClient;
 import org.photonvision.jni.TimeSyncServer;

@@ -43,10 +42,6 @@ public class TimeSyncManager {
    IntegerPublisher m_lastPongTimePub;

    public TimeSyncManager(NetworkTable kRootTable) {
-        if (!PhotonTargetingJniLoader.isWorking) {
-            logger.error("PhotonTargetingJNI was not loaded! Cannot do time-sync");
-        }
-
        this.ntInstance = kRootTable.getInstance();

        // Need this subtable to be unique per coprocessor. TODO: consider using MAC address or
@@ -65,18 +60,10 @@ public class TimeSyncManager {

    // Since we're spinning off tasks in a new thread, be careful and start it seperately
    public void start() {
-        if (!PhotonTargetingJniLoader.isWorking) {
-            logger.error("PhotonTargetingJNI was not loaded! Cannot start");
-        }
-
        TimedTaskManager.getInstance().addTask("TimeSyncManager::tick", this::tick, 1000);
    }

    public synchronized long getOffset() {
-        if (!PhotonTargetingJniLoader.isWorking) {
-            return 0;
-        }
-
        // if we're a client, return the offset to server time
        if (m_client != null) return m_client.getOffset();
        // if we're a server, our time (nt::Now) is the same as network time
@@ -88,10 +75,6 @@ public class TimeSyncManager {
    }

    synchronized void setConfig(NetworkConfig config) {
-        if (!PhotonTargetingJniLoader.isWorking) {
-            return;
-        }
-
        if (m_client == null && m_server == null) {
            throw new RuntimeException("Neither client nor server are null?");
        }
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -26,14 +26,14 @@ import java.io.IOException;
 import java.nio.file.Path;
 import org.opencv.core.Mat;
 import org.opencv.highgui.HighGui;
-import org.photonvision.jni.WpilibLoader;
+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 {
    public static boolean loadLibraries() {
-        return WpilibLoader.loadLibraries();
+        return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
    }

    @SuppressWarnings("unused")
--- a/photon-core/src/test/java/org/photonvision/hardware/HardwareTest.java
+++ b/photon-core/src/test/java/org/photonvision/hardware/HardwareTest.java
@@ -20,7 +20,6 @@ package org.photonvision.hardware;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;

-import java.io.IOException;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.hardware.GPIO.CustomGPIO;
 import org.photonvision.common.hardware.GPIO.GPIOBase;
@@ -28,17 +27,11 @@ 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;
-import org.photonvision.jni.PhotonTargetingJniLoader;

 public class HardwareTest {
    @Test
    public void testHardware() {
-        try {
-            TestUtils.loadLibraries();
-            PhotonTargetingJniLoader.load();
-        } catch (UnsatisfiedLinkError | IOException e) {
-            e.printStackTrace();
-        }
+        TestUtils.loadLibraries();
        MetricsManager mm = new MetricsManager();

        if (!Platform.isRaspberryPi()) return;
--- a/photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java
@@ -41,24 +41,20 @@ import org.junitpioneer.jupiter.cartesian.CartesianTest.Values;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.jni.PhotonTargetingJniLoader;
-import org.photonvision.jni.WpilibLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.vision.frame.provider.FileFrameProvider;

 public class FileSaveFrameConsumerTest {
    NetworkTableInstance inst = null;

    @BeforeAll
-    public static void init() throws UnsatisfiedLinkError, IOException {
-        if (!WpilibLoader.loadLibraries()) {
+    public static void init() throws IOException {
+        if (!LibraryLoader.loadWpiLibraries()) {
            fail();
        }

-        try {
-            if (!PhotonTargetingJniLoader.load()) fail();
-        } catch (UnsatisfiedLinkError | IOException e) {
-            e.printStackTrace();
-            fail(e);
+        if (!LibraryLoader.loadTargeting()) {
+            fail();
        }
    }

--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -22,7 +22,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.Assertions.fail;

 import edu.wpi.first.cscore.VideoMode;
-import java.io.IOException;
 import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
@@ -32,7 +31,7 @@ import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameras.USBCameraSource;
@@ -48,12 +47,7 @@ public class VisionModuleManagerTest {
        System.out.print(classpathStr);

        TestUtils.loadLibraries();
-        try {
-            if (!PhotonTargetingJniLoader.load()) fail();
-        } catch (UnsatisfiedLinkError | IOException e) {
-            e.printStackTrace();
-            fail(e);
-        }
+        if (!LibraryLoader.loadTargeting()) fail();
    }

    private static class TestSource extends VisionSource {
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
@@ -17,7 +17,6 @@

 package org.photonvision.vision.processes;

-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;

@@ -33,7 +32,6 @@ import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.file.JacksonUtils;
-import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.vision.camera.PVCameraInfo;

 public class VisionSourceManagerTest {
@@ -59,9 +57,7 @@ public class VisionSourceManagerTest {

    @BeforeAll
    public static void loadLibraries() {
-        TestUtils.loadLibraries();
-        assertDoesNotThrow(PhotonTargetingJniLoader::load);
-        assertTrue(PhotonTargetingJniLoader.isWorking);
+        assertTrue(TestUtils.loadLibraries());

        // Broadcast all still calls into configmanager (ew) so set that up here
        ConfigManager.getInstance().load();
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -363,6 +363,9 @@ def nativeTasks = wpilibTools.createExtractionTasks {

 nativeTasks.addToSourceSetResources(sourceSets.test)

+dependencies {
+    wpilibNatives project(":photon-targeting")
+}
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
--- a/photon-lib/src/main/java/org/photonvision/timesync/TimeSyncSingleton.java
+++ b/photon-lib/src/main/java/org/photonvision/timesync/TimeSyncSingleton.java
@@ -24,8 +24,8 @@

 package org.photonvision.timesync;

+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
-import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.jni.TimeSyncServer;

 /** Helper to hold a single TimeSyncServer instance with some default config */
@@ -35,12 +35,11 @@ public class TimeSyncSingleton {
    public static boolean load() {
        if (INSTANCE == null) {
            try {
-                if (!PhotonTargetingJniLoader.load()) {
-                    return false;
-                }
-            } catch (UnsatisfiedLinkError | IOException e) {
+                RuntimeLoader.loadLibrary("photontargetingJNI");
+            } catch (IOException e) {
+                // Don't want to return early. We want to create the TimeSyncServer so the program crashes
+                // because we need it in order to function.
                e.printStackTrace();
-                return false;
            }

            INSTANCE = new TimeSyncServer(5810);
--- a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
@@ -35,6 +35,7 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.RuntimeLoader;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
@@ -55,9 +56,8 @@ import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
 import org.photonvision.common.dataflow.structures.Packet;
-import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.jni.TimeSyncClient;
-import org.photonvision.jni.WpilibLoader;
 import org.photonvision.simulation.PhotonCameraSim;
 import org.photonvision.targeting.PhotonPipelineMetadata;
 import org.photonvision.targeting.PhotonPipelineResult;
@@ -68,8 +68,9 @@ class PhotonCameraTest {
    NetworkTableInstance inst = null;

    @BeforeAll
-    public static void load_wpilib() {
-        WpilibLoader.loadLibraries();
+    public static void load() throws IOException {
+        LibraryLoader.loadWpiLibraries();
+        RuntimeLoader.loadLibrary("photontargetingJNI");
    }

    @BeforeEach
@@ -111,9 +112,6 @@ class PhotonCameraTest {
    @Test
    @Order(3)
    public void testTimeSyncServerWithPhotonCamera() throws InterruptedException, IOException {
-        load_wpilib();
-        PhotonTargetingJniLoader.load();
-
        inst.stopClient();
        inst.startServer();

--- a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
@@ -48,6 +48,7 @@ import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
@@ -59,8 +60,7 @@ import org.junit.jupiter.api.Test;
 import org.photonvision.PhotonPoseEstimator.ConstrainedSolvepnpParams;
 import org.photonvision.PhotonPoseEstimator.PoseStrategy;
 import org.photonvision.estimation.TargetModel;
-import org.photonvision.jni.PhotonTargetingJniLoader;
-import org.photonvision.jni.WpilibLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.simulation.PhotonCameraSim;
 import org.photonvision.simulation.SimCameraProperties;
 import org.photonvision.simulation.VisionTargetSim;
@@ -76,13 +76,11 @@ class PhotonPoseEstimatorTest {
    @AutoClose final PhotonCameraInjector cameraOne = new PhotonCameraInjector();

    @BeforeAll
-    public static void init() throws UnsatisfiedLinkError, IOException {
-        if (!WpilibLoader.loadLibraries()) {
-            fail();
-        }
-        if (!PhotonTargetingJniLoader.load()) {
+    public static void init() throws IOException {
+        if (!LibraryLoader.loadWpiLibraries()) {
            fail();
        }
+        RuntimeLoader.loadLibrary("photontargetingJNI");

        HAL.initialize(1000, 0);

--- a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
+++ b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
@@ -28,7 +28,6 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
-import static org.junit.jupiter.api.Assertions.fail;
 import static org.photonvision.UnitTestUtils.waitForSequenceNumber;

 import edu.wpi.first.apriltag.AprilTag;
@@ -44,6 +43,7 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.util.RuntimeLoader;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.io.IOException;
 import java.util.ArrayList;
@@ -59,8 +59,7 @@ import org.junit.jupiter.params.provider.MethodSource;
 import org.junit.jupiter.params.provider.ValueSource;
 import org.photonvision.estimation.TargetModel;
 import org.photonvision.estimation.VisionEstimation;
-import org.photonvision.jni.PhotonTargetingJniLoader;
-import org.photonvision.jni.WpilibLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.simulation.PhotonCameraSim;
 import org.photonvision.simulation.VisionSystemSim;
 import org.photonvision.simulation.VisionTargetSim;
@@ -72,15 +71,9 @@ class VisionSystemSimTest {
    NetworkTableInstance inst;

    @BeforeAll
-    public static void setUp() {
-        assertTrue(WpilibLoader.loadLibraries());
-
-        try {
-            assertTrue(PhotonTargetingJniLoader.load());
-        } catch (UnsatisfiedLinkError | IOException e) {
-            e.printStackTrace();
-            fail(e);
-        }
+    public static void setUp() throws IOException {
+        assertTrue(LibraryLoader.loadWpiLibraries());
+        RuntimeLoader.loadLibrary("photontargetingJNI");

        OpenCvLoader.forceStaticLoad();
    }
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -38,7 +38,7 @@ import org.photonvision.common.logging.Logger;
 import org.photonvision.common.logging.PvCSCoreLogger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.jni.RknnDetectorJNI;
 import org.photonvision.jni.RubikDetectorJNI;
 import org.photonvision.mrcal.MrCalJNILoader;
@@ -205,7 +205,7 @@ public class Main {
        logger.info("WPI JNI libraries loaded.");

        try {
-            boolean success = PhotonTargetingJniLoader.load();
+            boolean success = LibraryLoader.loadTargeting();

            if (!success) {
                logger.error("Failed to load native libraries! Giving up :(");
--- a/photon-targeting/build.gradle
+++ b/photon-targeting/build.gradle
@@ -23,20 +23,6 @@ nativeUtils {

 sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"

-// Folder whose contents will be included in the final jar
-def outputsFolder = file("$buildDir/extra_resources")
-
-// Sync task: like the copy task, but all files that exist in the destination directory will be deleted before copying files
-task syncOutputsFolder(type: Sync) {
-    into outputsFolder
-}
-
-// And package our outputs folder into the final jar
-jar {
-    from outputsFolder
-    dependsOn syncOutputsFolder
-}
-
 model {
    components {
        "${nativeName}"(NativeLibrarySpec) {
@@ -115,21 +101,6 @@ model {
                    platName = "osxuniversal";
                    realWpilibName = "osxuniversal";
                }
-
-                if (binary.targetPlatform.name == platName) {
-                    // only include release binaries (hard coded for now)
-                    def isDebug = binary.buildType.name.contains('debug')
-                    if (!isDebug) {
-                        syncOutputsFolder {
-                            // Just shove the shared library into the root of the jar output by photon-targeting:jar
-                            from(binary.sharedLibraryFile) {
-                                into "nativelibraries/${realWpilibName}/"
-                            }
-                            // And (not sure if this is a hack) make the jar task depend on the build task
-                            dependsOn binary.identifier.projectScopedName
-                        }
-                    }
-                }
            }
        }
    }
@@ -202,27 +173,6 @@ model {

 apply from: "${rootDir}/shared/javacpp/publish.gradle"

-// quickly hack our raw jar into publishing
-def rawjavaJar = tasks.register("rawjavaJar", Jar) {
-    dependsOn classes
-    includeEmptyDirs = false
-    from sourceSets.main.output
-    archiveClassifier = 'raw'
-}
-
-publishing {
-    publications {
-        rawjava(MavenPublication) {
-            artifact (rawjavaJar) {
-                classifier = null
-            }
-            artifactId = "${nativeName}-rawjava"
-            groupId = artifactGroupId
-            version = pubVersion
-        }
-    }
-}
-
 // Add photon serde headers to our published sources
 cppHeadersZip {
    from('src/generated/main/native/include') {
@@ -230,12 +180,6 @@ cppHeadersZip {
    }
 }

-// make sure native libraries can be loaded in tests
-test {
-    classpath += files(outputsFolder)
-    dependsOn syncOutputsFolder
-}
-
 // setup wpilib bundled native libs
 wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()

--- a/photon-targeting/src/main/java/org/photonvision/jni/LibraryLoader.java
+++ b/photon-targeting/src/main/java/org/photonvision/jni/LibraryLoader.java
@@ -29,11 +29,12 @@ import edu.wpi.first.util.WPIUtilJNI;
 import java.io.IOException;
 import org.opencv.core.Core;

-public class WpilibLoader {
-    private static boolean has_loaded = false;
+public class LibraryLoader {
+    private static boolean hasWpiLoaded = false;
+    private static boolean hasTargetingLoaded = false;

-    public static boolean loadLibraries() {
-        if (has_loaded) return true;
+    public static boolean loadWpiLibraries() {
+        if (hasWpiLoaded) return true;

        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
@@ -45,10 +46,10 @@ public class WpilibLoader {
        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
        try {
            // Need to load wpiutil first before checking if the MSVC runtime is valid
-            CombinedRuntimeLoader.loadLibraries(WpilibLoader.class, "wpiutiljni");
+            CombinedRuntimeLoader.loadLibraries(LibraryLoader.class, "wpiutiljni");
            WPIUtilJNI.checkMsvcRuntime();
            CombinedRuntimeLoader.loadLibraries(
-                    WpilibLoader.class,
+                    LibraryLoader.class,
                    "wpimathjni",
                    "ntcorejni",
                    "wpinetjni",
@@ -56,13 +57,25 @@ public class WpilibLoader {
                    "cscorejni",
                    "apriltagjni");

-            CombinedRuntimeLoader.loadLibraries(WpilibLoader.class, Core.NATIVE_LIBRARY_NAME);
-            has_loaded = true;
+            CombinedRuntimeLoader.loadLibraries(LibraryLoader.class, Core.NATIVE_LIBRARY_NAME);
+            hasWpiLoaded = true;
        } catch (IOException e) {
            e.printStackTrace();
-            has_loaded = false;
+            hasWpiLoaded = false;
        }

-        return has_loaded;
+        return hasWpiLoaded;
+    }
+
+    public static boolean loadTargeting() {
+        if (hasTargetingLoaded) return true;
+        try {
+            CombinedRuntimeLoader.loadLibraries(LibraryLoader.class, "photontargetingJNI");
+            hasTargetingLoaded = true;
+        } catch (IOException e) {
+            e.printStackTrace();
+            hasTargetingLoaded = false;
+        }
+        return hasTargetingLoaded;
    }
 }
--- a/photon-targeting/src/main/java/org/photonvision/jni/PhotonTargetingJniLoader.java
+++ b/photon-targeting/src/main/java/org/photonvision/jni/PhotonTargetingJniLoader.java
@@ -1,88 +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 edu.wpi.first.util.RuntimeLoader;
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.nio.file.Files;
-import java.util.List;
-import org.photonvision.common.hardware.Platform;
-
-public class PhotonTargetingJniLoader {
-    public static boolean isWorking = false;
-
-    public static boolean load() throws IOException, UnsatisfiedLinkError {
-        if (isWorking) return true;
-        isWorking = load_();
-        return isWorking;
-    }
-
-    public static boolean load_() throws IOException, UnsatisfiedLinkError {
-        // We always extract the shared object (we could hash each so, but that's a lot
-        // of work)
-        String arch_name = Platform.getNativeLibraryFolderName();
-        var clazz = PhotonTargetingJniLoader.class;
-
-        for (var libraryName : List.of("photontargeting", "photontargetingJNI")) {
-            try {
-                RuntimeLoader.loadLibrary(libraryName);
-                continue;
-            } catch (Exception e) {
-                System.out.println("Direct library load failed; falling back to extraction");
-            }
-
-            var nativeLibName = System.mapLibraryName(libraryName);
-            var path = "/nativelibraries/" + arch_name + "/" + nativeLibName;
-            var in = clazz.getResourceAsStream(path);
-
-            if (in == null) {
-                System.err.println("Could not get resource at path " + path);
-                return false;
-            }
-
-            // It's important that we don't mangle the names of these files on Windows at
-            // least
-            var tempfolder = Files.createTempDirectory("nativeextract");
-            File temp = new File(tempfolder.toAbsolutePath().toString(), nativeLibName);
-            System.out.println(temp.getAbsolutePath().toString());
-            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();
-
-            try {
-                System.load(temp.getAbsolutePath());
-            } catch (Throwable t) {
-                System.err.println("Unable to System.load " + temp.getName() + " : " + t.getMessage());
-                t.printStackTrace();
-                return false;
-            }
-
-            System.out.println("Successfully loaded shared object " + temp.getName());
-        }
-
-        return true;
-    }
-}
--- a/photon-targeting/src/test/java/ConstrainedSolvepnpTest.java
+++ b/photon-targeting/src/test/java/ConstrainedSolvepnpTest.java
@@ -21,24 +21,22 @@ import static org.junit.jupiter.api.Assertions.fail;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.MatBuilder;
 import edu.wpi.first.math.Nat;
+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.Arrays;
 import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
 import org.photonvision.jni.ConstrainedSolvepnpJni;
-import org.photonvision.jni.PhotonTargetingJniLoader;
-import org.photonvision.jni.WpilibLoader;
+import org.photonvision.jni.LibraryLoader;

 public class ConstrainedSolvepnpTest {
    @BeforeAll
-    public static void load_wpilib() throws UnsatisfiedLinkError, IOException {
-        if (!WpilibLoader.loadLibraries()) {
-            fail();
-        }
-        if (!PhotonTargetingJniLoader.load()) {
+    public static void load() throws IOException {
+        if (!LibraryLoader.loadWpiLibraries()) {
            fail();
        }
+        RuntimeLoader.loadLibrary("photontargetingJNI");

        HAL.initialize(1000, 0);
    }
--- a/photon-targeting/src/test/java/jni/CscoreExtrasTest.java
+++ b/photon-targeting/src/test/java/jni/CscoreExtrasTest.java
@@ -28,23 +28,21 @@ import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.util.RawFrame;
+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.BeforeAll;
 import org.opencv.core.Mat;
 import org.photonvision.jni.CscoreExtras;
-import org.photonvision.jni.PhotonTargetingJniLoader;
-import org.photonvision.jni.WpilibLoader;
+import org.photonvision.jni.LibraryLoader;

 public class CscoreExtrasTest {
    @BeforeAll
-    public static void load_wpilib() throws UnsatisfiedLinkError, IOException {
-        if (!WpilibLoader.loadLibraries()) {
-            fail();
-        }
-        if (!PhotonTargetingJniLoader.load()) {
+    public static void load() throws IOException {
+        if (!LibraryLoader.loadWpiLibraries()) {
            fail();
        }
+        RuntimeLoader.loadLibrary("photontargetingJNI");

        HAL.initialize(1000, 0);
    }
--- a/photon-targeting/src/test/java/jni/FileLoggerTest.java
+++ b/photon-targeting/src/test/java/jni/FileLoggerTest.java
@@ -21,24 +21,22 @@ import static org.junit.jupiter.api.Assertions.fail;
 import static org.junit.jupiter.api.Assumptions.assumeTrue;

 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.hardware.Platform;
-import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.jni.QueuedFileLogger;
-import org.photonvision.jni.WpilibLoader;

 public class FileLoggerTest {
    @BeforeAll
-    public static void load_wpilib() throws UnsatisfiedLinkError, IOException {
-        if (!WpilibLoader.loadLibraries()) {
-            fail();
-        }
-        if (!PhotonTargetingJniLoader.load()) {
+    public static void load() throws IOException {
+        if (!LibraryLoader.loadWpiLibraries()) {
            fail();
        }
+        RuntimeLoader.loadLibrary("photontargetingJNI");

        HAL.initialize(1000, 0);
    }
--- a/photon-targeting/src/test/java/net/TimeSyncTest.java
+++ b/photon-targeting/src/test/java/net/TimeSyncTest.java
@@ -17,25 +17,21 @@

 package net;

-import static org.junit.jupiter.api.Assertions.fail;
-
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
-import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.jni.TimeSyncClient;
 import org.photonvision.jni.TimeSyncServer;
-import org.photonvision.jni.WpilibLoader;

 public class TimeSyncTest {
    @BeforeAll
-    public static void load_wpilib() throws UnsatisfiedLinkError, IOException {
-        WpilibLoader.loadLibraries();
-        if (!PhotonTargetingJniLoader.load()) {
-            fail();
-        }
+    public static void load() throws IOException {
+        LibraryLoader.loadWpiLibraries();
+        RuntimeLoader.loadLibrary("photontargetingJNI");

        HAL.initialize(1000, 0);
    }
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -127,8 +127,14 @@ ext.createComponentZipTasks = { components, names, base, type, project, func ->

        project.build.dependsOn task

-        project.artifacts {
-            task
+        // If the zip artifact matches the platform we're building for (either host or whatever the ArchOverride is), and it's a shared library built in release mode, add it to the list of artifacts the project exposes for use
+        if (key.contains(wpilibTools.getPlatformMapper().getWpilibClassifier()) && !key.contains("debug") && !key.contains("static")) {
+            // For more information, see https://docs.gradle.org/current/userguide/variant_model.html and the outgoingVariants task
+            project.artifacts.add("wpilibNatives", task)
+        } else {
+            project.artifacts {
+                task
+            }
        }
        addTaskToCopyAllOutputs(task)
    }