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

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();
 

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);
 

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();
     }