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https://github.com/PhotonVision/photonvision
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Create photon-targeting-JNI framework (#1428)
Initial framework for adding JNI libraries. Auto generated JNI headers and sticks native libraries into the JAR (and adds to class path for testing)
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Matt
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.common.hardware;
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import edu.wpi.first.util.RuntimeDetector;
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import java.io.BufferedReader;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Paths;
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@SuppressWarnings("unused")
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public enum Platform {
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// WPILib Supported (JNI)
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WINDOWS_64("Windows x64", "winx64", false, OSType.WINDOWS, true),
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LINUX_32("Linux x86", "linuxx64", false, OSType.LINUX, true),
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LINUX_64("Linux x64", "linuxx64", false, OSType.LINUX, true),
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LINUX_RASPBIAN32(
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"Linux Raspbian 32-bit",
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"linuxarm32",
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true,
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OSType.LINUX,
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true), // Raspberry Pi 3/4 with a 32-bit image
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LINUX_RASPBIAN64(
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"Linux Raspbian 64-bit",
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"linuxarm64",
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true,
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OSType.LINUX,
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true), // Raspberry Pi 3/4 with a 64-bit image
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LINUX_RK3588_64("Linux AARCH 64-bit with RK3588", "linuxarm64", false, OSType.LINUX, true),
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LINUX_AARCH64(
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"Linux AARCH64", "linuxarm64", false, OSType.LINUX, true), // Jetson Nano, Jetson TX2
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// PhotonVision Supported (Manual build/install)
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LINUX_ARM64("Linux ARM64", "linuxarm64", false, OSType.LINUX, true), // ODROID C2, N2
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// Completely unsupported
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WINDOWS_32("Windows x86", "windowsx64", false, OSType.WINDOWS, false),
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MACOS("Mac OS", "osxuniversal", false, OSType.MACOS, false),
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LINUX_ARM32("Linux ARM32", "linuxarm32", false, OSType.LINUX, false), // ODROID XU4, C1+
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UNKNOWN("Unsupported Platform", "", false, OSType.UNKNOWN, false);
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private enum OSType {
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WINDOWS,
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LINUX,
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MACOS,
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UNKNOWN
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}
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public final String description;
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public final String nativeLibraryFolderName;
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public final boolean isPi;
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public final OSType osType;
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public final boolean isSupported;
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// Set once at init, shouldn't be needed after.
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private static final Platform currentPlatform = getCurrentPlatform();
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Platform(
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String description,
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String nativeLibFolderName,
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boolean isPi,
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OSType osType,
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boolean isSupported) {
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this.description = description;
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this.isPi = isPi;
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this.osType = osType;
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this.isSupported = isSupported;
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this.nativeLibraryFolderName = nativeLibFolderName;
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}
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//////////////////////////////////////////////////////
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// Public API
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// Checks specifically if unix shell and API are supported
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public static boolean isLinux() {
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return currentPlatform.osType == OSType.LINUX;
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}
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public static boolean isRK3588() {
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return Platform.isOrangePi() || Platform.isCoolPi4b();
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}
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public static boolean isRaspberryPi() {
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return currentPlatform.isPi;
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}
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public static String getPlatformName() {
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if (currentPlatform.equals(UNKNOWN)) {
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return UnknownPlatformString;
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} else {
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return currentPlatform.description;
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}
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}
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public static String getNativeLibraryFolderName() {
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return currentPlatform.nativeLibraryFolderName;
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}
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public static boolean isSupported() {
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return currentPlatform.isSupported;
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}
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//////////////////////////////////////////////////////
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// Debug info related to unknown platforms for debug help
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private static final String OS_NAME = System.getProperty("os.name");
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private static final String OS_ARCH = System.getProperty("os.arch");
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private static final String UnknownPlatformString =
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String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
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private static Platform getCurrentPlatform() {
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if (RuntimeDetector.isWindows()) {
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if (RuntimeDetector.is32BitIntel()) {
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return WINDOWS_32;
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} else if (RuntimeDetector.is64BitIntel()) {
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return WINDOWS_64;
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} else {
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// please don't try this
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return UNKNOWN;
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}
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}
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if (RuntimeDetector.isMac()) {
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// TODO - once we have real support, this might have to be more granular
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return MACOS;
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}
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if (RuntimeDetector.isLinux()) {
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if (isPiSBC()) {
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if (RuntimeDetector.isArm32()) {
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return LINUX_RASPBIAN32;
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} else if (RuntimeDetector.isArm64()) {
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return LINUX_RASPBIAN64;
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} else {
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// Unknown/exotic installation
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return UNKNOWN;
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}
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} else if (isJetsonSBC()) {
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if (RuntimeDetector.isArm64()) {
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// TODO - do we need to check OS version?
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return LINUX_AARCH64;
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} else {
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// Unknown/exotic installation
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return UNKNOWN;
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}
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} else if (RuntimeDetector.is64BitIntel()) {
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return LINUX_64;
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} else if (RuntimeDetector.is32BitIntel()) {
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return LINUX_32;
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} else if (RuntimeDetector.isArm64()) {
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// TODO - os detection needed?
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if (isOrangePi()) {
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return LINUX_RK3588_64;
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} else {
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return LINUX_AARCH64;
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}
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} else if (RuntimeDetector.isArm32()) {
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return LINUX_ARM32;
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} else {
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// Unknown or otherwise unsupported platform
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return Platform.UNKNOWN;
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}
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}
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// If we fall through all the way to here,
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return Platform.UNKNOWN;
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}
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// Check for various known SBC types
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private static boolean isPiSBC() {
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return fileHasText("/proc/cpuinfo", "Raspberry Pi");
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}
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private static boolean isOrangePi() {
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return fileHasText("/proc/device-tree/model", "Orange Pi 5");
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}
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private static boolean isCoolPi4b() {
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return fileHasText("/proc/device-tree/model", "CoolPi 4B");
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}
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private static boolean isJetsonSBC() {
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// https://forums.developer.nvidia.com/t/how-to-recognize-jetson-nano-device/146624
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return fileHasText("/proc/device-tree/model", "NVIDIA Jetson");
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}
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// Checks for various names of linux OS
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private static boolean isStretch() {
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// TODO - this is a total guess
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return fileHasText("/etc/os-release", "Stretch");
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}
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private static boolean isBuster() {
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// TODO - this is a total guess
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return fileHasText("/etc/os-release", "Buster");
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}
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private static boolean fileHasText(String filename, String text) {
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try (BufferedReader reader = Files.newBufferedReader(Paths.get(filename))) {
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while (true) {
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String value = reader.readLine();
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if (value == null) {
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return false;
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} else if (value.contains(text)) {
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return true;
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} // else, next line
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}
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} catch (IOException ex) {
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return false;
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}
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}
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public static boolean isWindows() {
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var p = getCurrentPlatform();
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return (p == WINDOWS_32 || p == WINDOWS_64);
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}
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}
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