[photon-targeting] Fix JNI loading (#1563)

.github/workflows/build.yml

@@ -39,8 +39,20 @@ jobs:
           name: built-client
           path: photon-client/dist/
   build-examples:
-    name: "Build Examples"
-    runs-on: ubuntu-22.04
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            architecture: x64
+          - os: macos-14
+            architecture: aarch64
+          - os: ubuntu-22.04
+
+    name: "Photonlib - Build Examples - ${{ matrix.os }}"
+    runs-on: ${{ matrix.os }}
+
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
@@ -60,19 +72,19 @@ jobs:
       - name: Publish photonlib to maven local
         run: |
           chmod +x gradlew
-          ./gradlew publishtomavenlocal -x check
+          ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
       - name: Build Java examples
         working-directory: photonlib-java-examples
         run: |
           chmod +x gradlew
           ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check
+          ./gradlew build
       - name: Build C++ examples
         working-directory: photonlib-cpp-examples
         run: |
           chmod +x gradlew
           ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check
+          ./gradlew build
   build-gradle:
     name: "Gradle Build"
     runs-on: ubuntu-22.04
@@ -585,7 +597,7 @@ jobs:
 
   dispatch:
     name: dispatch
-    needs: [build-photonlib-vendorjson]
+    needs: [build-photonlib-vendorjson, release]
     runs-on: ubuntu-22.04
     steps:
       - uses: peter-evans/repository-dispatch@v3

photon-lib/build.gradle

@@ -88,6 +88,7 @@ model {
                 }
                 if(project.hasProperty('includePhotonTargeting')) {
                     lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                    lib project: ':photon-targeting', library: 'photontargetingJNI', linkage: 'shared'
                 }
             }
 

photon-lib/src/generate/photonlib.json.in

@@ -35,19 +35,6 @@
         "linuxx86-64",
         "osxuniversal"
       ]
-    },
-    {
-      "groupId": "org.photonvision",
-      "artifactId": "photontargeting-jni",
-      "version": "${photon_version}",
-      "skipInvalidPlatforms": true,
-      "isJar": true,
-      "validPlatforms": [
-        "windowsx86-64",
-        "linuxathena",
-        "linuxx86-64",
-        "osxuniversal"
-      ]
     }
   ],
   "cppDependencies": [

photon-targeting/build.gradle

@@ -146,6 +146,8 @@ model {
             }
 
             binaries.all {
+                lib library: nativeName, linkage: 'shared'
+                lib library: "${nativeName}JNI", linkage: 'shared'
                 it.tasks.withType(CppCompile) {
                     it.dependsOn generateProto
                 }

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

@@ -17,7 +17,6 @@
 
 package org.photonvision.jni;
 
-import edu.wpi.first.util.RuntimeDetector;
 import edu.wpi.first.util.RuntimeLoader;
 import java.io.File;
 import java.io.FileOutputStream;
@@ -42,10 +41,11 @@ public class PhotonTargetingJniLoader {
         var clazz = PhotonTargetingJniLoader.class;
 
         for (var libraryName : List.of("photontargeting", "photontargetingJNI")) {
-            if (RuntimeDetector.isAthena()) {
-                System.out.println("Detected rio - loading directly");
+            try {
                 RuntimeLoader.loadLibrary(libraryName);
                 continue;
+            } catch (Exception e) {
+                System.out.println("Direct library load failed; falling back to extraction");
             }
 
             var nativeLibName = System.mapLibraryName(libraryName);

photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java

@@ -0,0 +1,39 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package frc.robot;
+
+import static org.junit.Assert.fail;
+
+import org.junit.Test;
+import org.photonvision.timesync.TimeSyncSingleton;
+
+public class JniLoadTest {
+    @Test
+    public void smoketest() {
+        if (!TimeSyncSingleton.load()) {
+            fail("Could not load TimeSync JNI????????");
+        }
+    }
+}

shared/javacpp/publish.gradle

@@ -75,7 +75,10 @@ addTaskToCopyAllOutputs(cppHeadersZip)
 
 model {
     publishing {
-        def cppTaskList = createComponentZipTasks($.components, [nativeName], zipBaseName, Zip, project, includeStandardZipFormat)
+        def cppTaskList = createComponentZipTasks($.components, [
+            nativeName,
+            "${nativeName}JNI"
+        ], zipBaseName, Zip, project, includeStandardZipFormat)
 
         // From https://github.com/wpilibsuite/allwpilib/blob/1c220ebc607daa8da7d983b8f17bc40323633cb2/shared/jni/publish.gradle#L80C9-L100C11
         def jniTaskList = createComponentZipTasks($.components, ["${nativeName}JNI"], jniBaseName, Jar, project, { task, value ->