mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
f2e262d59d
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.
81 lines
2.9 KiB
Java
81 lines
2.9 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.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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