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[wpiutil] Remove CombinedRuntimeLoader (#8623)

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It was only ever for Java tools, which we do not support anymore.
This commit is contained in:
Thad House
2026-02-27 20:15:17 -08:00
committed by GitHub
parent 46a911d50c
commit 880ffe94f2
14 changed files with 56 additions and 451 deletions
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4
commandsv2/src/dev/java/org/wpilib/commands2/DevMain.java
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@@ -6,13 +6,13 @@ package org.wpilib.commands2;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.networktables.NetworkTablesJNI;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}

4
commandsv3/src/dev/java/org/wpilib/command3/DevMain.java
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@@ -6,7 +6,7 @@ package org.wpilib.command3;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.networktables.NetworkTablesJNI;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
/** Dev main. */
public final class DevMain {
@@ -14,7 +14,7 @@ public final class DevMain {
public static void main(String[] args) {
System.out.println("Commands V3 DevMain");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}

4
cscore/src/dev/java/org/wpilib/vision/camera/DevMain.java
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@@ -4,13 +4,13 @@
package org.wpilib.vision.camera;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
public final class DevMain {
/** Main method. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
System.out.println(CameraServerJNI.getHostname());
}

4
ntcore/src/dev/java/org/wpilib/networktables/DevMain.java
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@@ -4,13 +4,13 @@
package org.wpilib.networktables;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
public final class DevMain {
/** Main method. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
}

4
romiVendordep/src/dev/java/org/wpilib/romi/DevMain.java
View File

@@ -6,13 +6,13 @@ package org.wpilib.romi;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.networktables.NetworkTablesJNI;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}

7
styleguide/spotbugs-exclude.xml
View File

@@ -36,8 +36,7 @@
<Or>
<Class name="org.wpilib.system.DataLogManager" />
<Class name="org.wpilib.system.Filesystem" />
<Class name="org.wpilib.util.runtime.CombinedRuntimeLoader" />
<Class name="org.wpilib.util.runtime.RuntimeDetector" />
<Class name="org.wpilib.util.runtime.RuntimeLoader" />
</Or>
</Match>
<Match>
@@ -106,10 +105,6 @@
<Match>
<Bug pattern="PA_PUBLIC_PRIMITIVE_ATTRIBUTE" />
</Match>
<Match>
<Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
<Class name="org.wpilib.util.runtime.CombinedRuntimeLoader" />
</Match>
<Match>
<Bug pattern="RV_RETURN_VALUE_OF_PUTIFABSENT_IGNORED" />
<Class name="org.wpilib.networktables.NetworkTableInstance" />

4
wpilibj/src/dev/java/org/wpilib/DevMain.java
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@@ -6,13 +6,13 @@ package org.wpilib;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.networktables.NetworkTablesJNI;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}

4
wpinet/src/dev/java/org/wpilib/net/DevMain.java
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@@ -4,13 +4,13 @@
package org.wpilib.net;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
}
private DevMain() {}

3
wpiutil/build.gradle
View File

@@ -3,9 +3,6 @@ apply from: "${rootDir}/shared/resources.gradle"
apply plugin: 'c'
ext {
noWpiutil = true
skipJniSymbols = [
'Java_org_wpilib_util_CombinedRuntimeLoader_setDllDirectory'
]
baseId = 'wpiutil'
groupId = 'org.wpilib.wpiutil'

4
wpiutil/src/dev/java/org/wpilib/util/DevMain.java
View File

@@ -4,13 +4,13 @@
package org.wpilib.util;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
WPIUtilJNI.checkMsvcRuntime();
}

226
wpiutil/src/main/java/org/wpilib/util/runtime/CombinedRuntimeLoader.java
View File

@@ -1,226 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package org.wpilib.util.runtime;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Objects;
/** Loads dynamic libraries for all platforms. */
public final class CombinedRuntimeLoader {
private CombinedRuntimeLoader() {}
private static String extractionDirectory;
/**
* Returns library extraction directory.
*
* @return Library extraction directory.
*/
public static synchronized String getExtractionDirectory() {
return extractionDirectory;
}
private static synchronized void setExtractionDirectory(String directory) {
extractionDirectory = directory;
}
private static String defaultExtractionRoot;
/**
* Gets the default extraction root location (~/.wpilib/nativecache) for use if
* setExtractionDirectory is not set.
*
* @return The default extraction root location.
*/
public static synchronized String getDefaultExtractionRoot() {
if (defaultExtractionRoot != null) {
return defaultExtractionRoot;
}
String home = System.getProperty("user.home");
defaultExtractionRoot = Paths.get(home, ".wpilib", "nativecache").toString();
return defaultExtractionRoot;
}
/**
* Returns platform path.
*
* @return The current platform path.
* @throws IllegalStateException Thrown if the operating system is unknown.
*/
public static String getPlatformPath() {
String filePath;
String arch = System.getProperty("os.arch");
boolean intel32 = "x86".equals(arch) || "i386".equals(arch);
boolean intel64 = "amd64".equals(arch) || "x86_64".equals(arch);
if (System.getProperty("os.name").startsWith("Windows")) {
if (intel32) {
filePath = "/windows/x86/";
} else {
filePath = "/windows/x86-64/";
}
} else if (System.getProperty("os.name").startsWith("Mac")) {
filePath = "/osx/universal/";
} else if (System.getProperty("os.name").startsWith("Linux")) {
if (intel32) {
filePath = "/linux/x86/";
} else if (intel64) {
filePath = "/linux/x86-64/";
} else if (new File("/usr/local/frc/bin/frcRunRobot.sh").exists()) {
filePath = "/linux/athena/";
} else if ("arm".equals(arch) || "arm32".equals(arch)) {
filePath = "/linux/arm32/";
} else if ("aarch64".equals(arch) || "arm64".equals(arch)) {
filePath = "/linux/arm64/";
} else {
filePath = "/linux/nativearm/";
}
} else {
throw new IllegalStateException();
}
return filePath;
}
private static String getLoadErrorMessage(String libraryName, UnsatisfiedLinkError ule) {
StringBuilder msg = new StringBuilder(512);
msg.append(libraryName)
.append(" could not be loaded from path\n" + "\tattempted to load for platform ")
.append(getPlatformPath())
.append("\nLast Load Error: \n")
.append(ule.getMessage())
.append('\n');
if (System.getProperty("os.name").startsWith("Windows")) {
msg.append(
"A common cause of this error is missing the C++ runtime.\n"
+ "Download the latest at https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads\n");
}
return msg.toString();
}
/**
* Extract a list of native libraries.
*
* @param <T> The class where the resources would be located
* @param clazz The actual class object
* @param resourceName The resource name on the classpath to use for file lookup
* @return List of all libraries that were extracted
* @throws IOException Thrown if resource not found or file could not be extracted
*/
@SuppressWarnings("unchecked")
public static <T> List<String> extractLibraries(Class<T> clazz, String resourceName)
throws IOException {
TypeReference<HashMap<String, Object>> typeRef = new TypeReference<>() {};
ObjectMapper mapper = new ObjectMapper();
Map<String, Object> map;
try (var stream = clazz.getResourceAsStream(resourceName)) {
map = mapper.readValue(stream, typeRef);
}
var platformPath = Paths.get(getPlatformPath());
var platform = platformPath.getName(0).toString();
var arch = platformPath.getName(1).toString();
var platformMap = (Map<String, List<String>>) map.get(platform);
var fileList = platformMap.get(arch);
var extractionPathString = getExtractionDirectory();
if (extractionPathString == null) {
String hash = (String) map.get("hash");
var defaultExtractionRoot = getDefaultExtractionRoot();
var extractionPath = Paths.get(defaultExtractionRoot, platform, arch, hash);
extractionPathString = extractionPath.toString();
setExtractionDirectory(extractionPathString);
}
List<String> extractedFiles = new ArrayList<>();
byte[] buffer = new byte[0x10000]; // 64K copy buffer
for (var file : fileList) {
try (var stream = clazz.getResourceAsStream(file)) {
Objects.requireNonNull(stream);
var outputFile = Paths.get(extractionPathString, new File(file).getName());
extractedFiles.add(outputFile.toString());
if (outputFile.toFile().exists()) {
continue;
}
var parent = outputFile.getParent();
if (parent == null) {
throw new IOException("Output file has no parent");
}
parent.toFile().mkdirs();
try (var os = Files.newOutputStream(outputFile)) {
int readBytes;
while ((readBytes = stream.read(buffer)) != -1) { // NOPMD
os.write(buffer, 0, readBytes);
}
}
}
}
return extractedFiles;
}
/**
* Load a single library from a list of extracted files.
*
* @param libraryName The library name to load
* @param extractedFiles The extracted files to search
* @throws IOException If library was not found
*/
public static void loadLibrary(String libraryName, List<String> extractedFiles)
throws IOException {
String currentPath = null;
try {
for (var extractedFile : extractedFiles) {
if (extractedFile.contains(libraryName)) {
// Load it
currentPath = extractedFile;
System.load(extractedFile);
return;
}
}
throw new IOException("Could not find library " + libraryName);
} catch (UnsatisfiedLinkError ule) {
throw new IOException(getLoadErrorMessage(currentPath, ule));
}
}
/**
* Load a list of native libraries out of a single directory.
*
* @param <T> The class where the resources would be located
* @param clazz The actual class object
* @param librariesToLoad List of libraries to load
* @throws IOException Throws an IOException if not found
*/
public static <T> void loadLibraries(Class<T> clazz, String... librariesToLoad)
throws IOException {
// Extract everything
var extractedFiles = extractLibraries(clazz, "/ResourceInformation.json");
for (var library : librariesToLoad) {
loadLibrary(library, extractedFiles);
}
}
}

197
wpiutil/src/main/java/org/wpilib/util/runtime/RuntimeDetector.java
View File

@@ -1,197 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package org.wpilib.util.runtime;
import java.io.File;
/**
* A utility class for detecting and providing platform-specific such as OS and CPU architecture.
*
* @deprecated platform detection is brittle and may be removed in the future.
*/
@Deprecated(since = "2025", forRemoval = true)
public final class RuntimeDetector {
private static String filePrefix;
private static String fileExtension;
private static String filePath;
private static synchronized void computePlatform() {
if (fileExtension != null && filePath != null && filePrefix != null) {
return;
}
boolean intel32 = is32BitIntel();
boolean intel64 = is64BitIntel();
boolean arm64 = isArm64();
if (isWindows()) {
filePrefix = "";
fileExtension = ".dll";
if (intel32) {
filePath = "/windows/x86/";
} else {
filePath = "/windows/x86-64/";
}
} else if (isMac()) {
filePrefix = "lib";
fileExtension = ".dylib";
filePath = "/osx/universal/";
} else if (isLinux()) {
filePrefix = "lib";
fileExtension = ".so";
if (intel32) {
filePath = "/linux/x86/";
} else if (intel64) {
filePath = "/linux/x86-64/";
} else if (isAthena()) {
filePath = "/linux/athena/";
} else if (isArm32()) {
filePath = "/linux/arm32/";
} else if (arm64) {
filePath = "/linux/arm64/";
} else {
filePath = "/linux/nativearm/";
}
} else {
throw new IllegalStateException("Failed to determine OS");
}
}
/**
* Get the file prefix for the current system.
*
* @return The file prefix.
*/
public static synchronized String getFilePrefix() {
computePlatform();
return filePrefix;
}
/**
* Get the file extension for the current system.
*
* @return The file extension.
*/
public static synchronized String getFileExtension() {
computePlatform();
return fileExtension;
}
/**
* Get the platform path for the current system.
*
* @return The platform path.
*/
public static synchronized String getPlatformPath() {
computePlatform();
return filePath;
}
/**
* Get the path to the requested resource.
*
* @param libName Library name.
* @return The path to the requested resource.
*/
public static synchronized String getLibraryResource(String libName) {
computePlatform();
return filePath + filePrefix + libName + fileExtension;
}
/**
* Get the path to the hash to the requested resource.
*
* @param libName Library name.
* @return The path to the hash to the requested resource.
*/
public static synchronized String getHashLibraryResource(String libName) {
computePlatform();
return filePath + libName + ".hash";
}
/**
* Check if hardware platform is Athena.
*
* @return True if hardware platform is Athena.
*/
public static boolean isAthena() {
File runRobotFile = new File("/usr/local/frc/bin/frcRunRobot.sh");
return runRobotFile.exists();
}
/**
* Check if OS is Arm32.
*
* @return True if OS is Arm32.
*/
public static boolean isArm32() {
String arch = System.getProperty("os.arch");
return "arm".equals(arch) || "arm32".equals(arch);
}
/**
* Check if architecture is Arm64.
*
* @return if architecture is Arm64.
*/
public static boolean isArm64() {
String arch = System.getProperty("os.arch");
return "aarch64".equals(arch) || "arm64".equals(arch);
}
/**
* Check if OS is Linux.
*
* @return if OS is Linux.
*/
public static boolean isLinux() {
return System.getProperty("os.name").startsWith("Linux");
}
/**
* Check if OS is Windows.
*
* @return if OS is Windows.
*/
public static boolean isWindows() {
return System.getProperty("os.name").startsWith("Windows");
}
/**
* Check if OS is Mac.
*
* @return if OS is Mac.
*/
public static boolean isMac() {
return System.getProperty("os.name").startsWith("Mac");
}
/**
* Check if OS is 32bit Intel.
*
* @return if OS is 32bit Intel.
*/
public static boolean is32BitIntel() {
String arch = System.getProperty("os.arch");
return "x86".equals(arch) || "i386".equals(arch);
}
/**
* Check if OS is 64bit Intel.
*
* @return if OS is 64bit Intel.
*/
public static boolean is64BitIntel() {
String arch = System.getProperty("os.arch");
return "amd64".equals(arch) || "x86_64".equals(arch);
}
private RuntimeDetector() {}
}

38
wpiutil/src/main/java/org/wpilib/util/runtime/RuntimeLoader.java
View File

@@ -8,6 +8,42 @@ import java.io.IOException;
/** Loads a native library at runtime. */
public final class RuntimeLoader {
/**
* Returns platform name.
*
* @return The current platform name.
* @throws IllegalStateException Thrown if the operating system is unknown.
*/
public static String getPlatformName() {
String arch = System.getProperty("os.arch");
boolean intel64 = "amd64".equals(arch) || "x86_64".equals(arch);
boolean arm64 = "aarch64".equals(arch) || "arm64".equals(arch);
if (intel64) {
arch = "x86_64";
} else if (arm64) {
arch = "arm64";
} else {
throw new IllegalStateException("Unsupported architecture: " + arch);
}
String osName = System.getProperty("os.name");
if (osName.startsWith("Windows")) {
osName = "windows";
} else if (osName.startsWith("Mac")) {
osName = "osx";
arch = "universal";
} else if (osName.startsWith("Linux")) {
osName = "linux";
} else {
throw new IllegalStateException("Unsupported operating system: " + osName);
}
return osName + "-" + arch;
}
/**
* Returns a load error message given the information in the provided UnsatisfiedLinkError.
*
@@ -20,7 +56,7 @@ public final class RuntimeLoader {
StringBuilder msg = new StringBuilder(512);
msg.append(libraryName)
.append(" could not be loaded from path.\n" + "\tattempted to load for platform ")
.append(CombinedRuntimeLoader.getPlatformPath())
.append(getPlatformName())
.append("\nLast Load Error: \n")
.append(ule.getMessage())
.append('\n')

4
xrpVendordep/src/dev/java/org/wpilib/xrp/DevMain.java
View File

@@ -6,13 +6,13 @@ package org.wpilib.xrp;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.networktables.NetworkTablesJNI;
import org.wpilib.util.runtime.CombinedRuntimeLoader;
import org.wpilib.util.runtime.RuntimeLoader;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(RuntimeLoader.getPlatformName());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}