Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-21 01:01:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
## 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
This commit is contained in:
Gold856
2025-10-20 10:45:54 -04:00
committed by GitHub
parent b531fe6b81
commit 4f549ba579
21 changed files with 100 additions and 280 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
photon-targeting/src/main/java/org/photonvision/jni/WpilibLoader.java → photon-targeting/src/main/java/org/photonvision/jni/LibraryLoader.java
View File

@@ -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;
}
}

88
photon-targeting/src/main/java/org/photonvision/jni/PhotonTargetingJniLoader.java
View File

@@ -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;
}
}