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https://github.com/PhotonVision/photonvision
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Bring CombinedRuntimeLoader into PV [NFC] (#2367)
Given that WPILib is nuking their Java tooling, it becomes necessary to pull said tooling into PV itself. This migrates the CombinedRuntimeLoader into PV, which should finalize all of the tooling migration.
This commit is contained in:
Sam Freund
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/*
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* Copyright (c) FIRST and other WPILib contributors.
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* Open Source Software; you can modify and/or share it under the terms of
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* the WPILib BSD license below:
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* Neither the name of FIRST, WPILib, nor the names of other WPILib
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*/
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package org.photonvision.jni;
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import com.fasterxml.jackson.core.type.TypeReference;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import java.io.File;
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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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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.Objects;
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/** Loads dynamic libraries for all platforms. */
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public final class CombinedRuntimeLoader {
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private CombinedRuntimeLoader() {}
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private static String extractionDirectory;
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/**
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* Returns library extraction directory.
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*
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* @return Library extraction directory.
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*/
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public static synchronized String getExtractionDirectory() {
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return extractionDirectory;
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}
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private static synchronized void setExtractionDirectory(String directory) {
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extractionDirectory = directory;
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}
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private static String defaultExtractionRoot;
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/**
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* Gets the default extraction root location (~/.wpilib/nativecache) for use if
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* setExtractionDirectory is not set.
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*
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* @return The default extraction root location.
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*/
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public static synchronized String getDefaultExtractionRoot() {
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if (defaultExtractionRoot != null) {
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return defaultExtractionRoot;
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}
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String home = System.getProperty("user.home");
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defaultExtractionRoot = Paths.get(home, ".wpilib", "nativecache").toString();
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return defaultExtractionRoot;
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}
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/**
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* Returns platform path.
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*
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* @return The current platform path.
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* @throws IllegalStateException Thrown if the operating system is unknown.
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*/
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public static String getPlatformPath() {
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String filePath;
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String arch = System.getProperty("os.arch");
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boolean intel32 = "x86".equals(arch) || "i386".equals(arch);
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boolean intel64 = "amd64".equals(arch) || "x86_64".equals(arch);
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if (System.getProperty("os.name").startsWith("Windows")) {
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if (intel32) {
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filePath = "/windows/x86/";
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} else {
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filePath = "/windows/x86-64/";
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}
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} else if (System.getProperty("os.name").startsWith("Mac")) {
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filePath = "/osx/universal/";
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} else if (System.getProperty("os.name").startsWith("Linux")) {
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if (intel32) {
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filePath = "/linux/x86/";
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} else if (intel64) {
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filePath = "/linux/x86-64/";
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} else if (new File("/usr/local/frc/bin/frcRunRobot.sh").exists()) {
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filePath = "/linux/athena/";
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} else if ("arm".equals(arch) || "arm32".equals(arch)) {
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filePath = "/linux/arm32/";
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} else if ("aarch64".equals(arch) || "arm64".equals(arch)) {
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filePath = "/linux/arm64/";
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} else {
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filePath = "/linux/nativearm/";
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}
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} else {
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throw new IllegalStateException();
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}
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return filePath;
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}
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private static String getLoadErrorMessage(String libraryName, UnsatisfiedLinkError ule) {
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StringBuilder msg = new StringBuilder(512);
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msg.append(libraryName)
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.append(" could not be loaded from path\n" + "\tattempted to load for platform ")
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.append(getPlatformPath())
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.append("\nLast Load Error: \n")
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.append(ule.getMessage())
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.append('\n');
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if (System.getProperty("os.name").startsWith("Windows")) {
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msg.append(
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"A common cause of this error is missing the C++ runtime.\n"
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+ "Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads\n");
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}
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return msg.toString();
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}
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/**
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* Extract a list of native libraries.
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*
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* @param <T> The class where the resources would be located
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* @param clazz The actual class object
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* @param resourceName The resource name on the classpath to use for file lookup
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* @return List of all libraries that were extracted
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* @throws IOException Thrown if resource not found or file could not be extracted
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*/
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@SuppressWarnings("unchecked")
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public static <T> List<String> extractLibraries(Class<T> clazz, String resourceName)
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throws IOException {
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TypeReference<HashMap<String, Object>> typeRef = new TypeReference<>() {};
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ObjectMapper mapper = new ObjectMapper();
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Map<String, Object> map;
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try (var stream = clazz.getResourceAsStream(resourceName)) {
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map = mapper.readValue(stream, typeRef);
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}
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var platformPath = Paths.get(getPlatformPath());
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var platform = platformPath.getName(0).toString();
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var arch = platformPath.getName(1).toString();
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var platformMap = (Map<String, List<String>>) map.get(platform);
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var fileList = platformMap.get(arch);
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var extractionPathString = getExtractionDirectory();
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if (extractionPathString == null) {
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String hash = (String) map.get("hash");
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var defaultExtractionRoot = getDefaultExtractionRoot();
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var extractionPath = Paths.get(defaultExtractionRoot, platform, arch, hash);
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extractionPathString = extractionPath.toString();
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setExtractionDirectory(extractionPathString);
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}
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List<String> extractedFiles = new ArrayList<>();
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byte[] buffer = new byte[0x10000]; // 64K copy buffer
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for (var file : fileList) {
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try (var stream = clazz.getResourceAsStream(file)) {
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Objects.requireNonNull(stream);
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var outputFile = Paths.get(extractionPathString, new File(file).getName());
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extractedFiles.add(outputFile.toString());
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if (outputFile.toFile().exists()) {
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continue;
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}
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var parent = outputFile.getParent();
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if (parent == null) {
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throw new IOException("Output file has no parent");
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}
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parent.toFile().mkdirs();
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try (var os = Files.newOutputStream(outputFile)) {
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int readBytes;
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while ((readBytes = stream.read(buffer)) != -1) { // NOPMD
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os.write(buffer, 0, readBytes);
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}
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}
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}
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}
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return extractedFiles;
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}
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/**
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* Load a single library from a list of extracted files.
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*
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* @param libraryName The library name to load
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* @param extractedFiles The extracted files to search
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* @throws IOException If library was not found
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*/
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public static void loadLibrary(String libraryName, List<String> extractedFiles)
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throws IOException {
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String currentPath = null;
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try {
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for (var extractedFile : extractedFiles) {
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if (extractedFile.contains(libraryName)) {
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// Load it
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currentPath = extractedFile;
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System.load(extractedFile);
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return;
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}
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}
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throw new IOException("Could not find library " + libraryName);
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} catch (UnsatisfiedLinkError ule) {
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throw new IOException(getLoadErrorMessage(currentPath, ule));
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}
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}
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/**
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* Load a list of native libraries out of a single directory.
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*
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* @param <T> The class where the resources would be located
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* @param clazz The actual class object
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* @param librariesToLoad List of libraries to load
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* @throws IOException Throws an IOException if not found
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*/
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public static <T> void loadLibraries(Class<T> clazz, String... librariesToLoad)
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throws IOException {
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// Extract everything
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var extractedFiles = extractLibraries(clazz, "/ResourceInformation.json");
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for (var library : librariesToLoad) {
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loadLibrary(library, extractedFiles);
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}
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}
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}
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