Check MSVC Runtime before loading natives (#1809)

2026-06-20 00:51:41 +00:00 · 2025-03-11 23:10:15 -04:00
parent a3304818d2
commit 8fe53f3b84
1 changed files with 6 additions and 6 deletions
--- a/photon-targeting/src/main/java/org/photonvision/jni/WpilibLoader.java
+++ b/photon-targeting/src/main/java/org/photonvision/jni/WpilibLoader.java
@@ -0,0 +1,68 @@
+/*
+ * 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.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.cscore.OpenCvLoader;
+import edu.wpi.first.hal.JNIWrapper;
+import edu.wpi.first.math.jni.WPIMathJNI;
+import edu.wpi.first.net.WPINetJNI;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.CombinedRuntimeLoader;
+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 static boolean loadLibraries() {
+        if (has_loaded) return true;
+
+        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
+        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
+        CameraServerJNI.Helper.setExtractOnStaticLoad(false);
+        OpenCvLoader.Helper.setExtractOnStaticLoad(false);
+        JNIWrapper.Helper.setExtractOnStaticLoad(false);
+        WPINetJNI.Helper.setExtractOnStaticLoad(false);
+        WPIMathJNI.Helper.setExtractOnStaticLoad(false);
+        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
+        try {
+            // Need to load wpiutil first before checking if the MSVC runtime is valid
+            CombinedRuntimeLoader.loadLibraries(WpilibLoader.class, "wpiutiljni");
+            WPIUtilJNI.checkMsvcRuntime();
+            CombinedRuntimeLoader.loadLibraries(
+                    WpilibLoader.class,
+                    "wpimathjni",
+                    "ntcorejni",
+                    "wpinetjni",
+                    "wpiHaljni",
+                    "cscorejni",
+                    "apriltagjni");
+
+            CombinedRuntimeLoader.loadLibraries(WpilibLoader.class, Core.NATIVE_LIBRARY_NAME);
+            has_loaded = true;
+        } catch (IOException e) {
+            e.printStackTrace();
+            has_loaded = false;
+        }
+
+        return has_loaded;
+    }
+}