mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-27 02:01:40 +00:00
4f549ba579
## 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
82 lines
3.0 KiB
Java
82 lines
3.0 KiB
Java
/*
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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.jni;
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import edu.wpi.first.apriltag.jni.AprilTagJNI;
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import edu.wpi.first.cscore.CameraServerJNI;
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import edu.wpi.first.cscore.OpenCvLoader;
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import edu.wpi.first.hal.JNIWrapper;
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import edu.wpi.first.math.jni.WPIMathJNI;
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import edu.wpi.first.net.WPINetJNI;
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import edu.wpi.first.networktables.NetworkTablesJNI;
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import edu.wpi.first.util.CombinedRuntimeLoader;
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import edu.wpi.first.util.WPIUtilJNI;
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import java.io.IOException;
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import org.opencv.core.Core;
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public class LibraryLoader {
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private static boolean hasWpiLoaded = false;
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private static boolean hasTargetingLoaded = false;
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public static boolean loadWpiLibraries() {
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if (hasWpiLoaded) return true;
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NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
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WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
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CameraServerJNI.Helper.setExtractOnStaticLoad(false);
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OpenCvLoader.Helper.setExtractOnStaticLoad(false);
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JNIWrapper.Helper.setExtractOnStaticLoad(false);
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WPINetJNI.Helper.setExtractOnStaticLoad(false);
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WPIMathJNI.Helper.setExtractOnStaticLoad(false);
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AprilTagJNI.Helper.setExtractOnStaticLoad(false);
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try {
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// Need to load wpiutil first before checking if the MSVC runtime is valid
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CombinedRuntimeLoader.loadLibraries(LibraryLoader.class, "wpiutiljni");
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WPIUtilJNI.checkMsvcRuntime();
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CombinedRuntimeLoader.loadLibraries(
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LibraryLoader.class,
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"wpimathjni",
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"ntcorejni",
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"wpinetjni",
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"wpiHaljni",
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"cscorejni",
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"apriltagjni");
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CombinedRuntimeLoader.loadLibraries(LibraryLoader.class, Core.NATIVE_LIBRARY_NAME);
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hasWpiLoaded = true;
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} catch (IOException e) {
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e.printStackTrace();
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hasWpiLoaded = false;
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}
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return hasWpiLoaded;
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}
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public static boolean loadTargeting() {
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if (hasTargetingLoaded) return true;
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try {
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CombinedRuntimeLoader.loadLibraries(LibraryLoader.class, "photontargetingJNI");
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hasTargetingLoaded = true;
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} catch (IOException e) {
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e.printStackTrace();
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hasTargetingLoaded = false;
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}
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return hasTargetingLoaded;
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}
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}
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