fix tests and sim loading native libraries

PhotonVision · Oct 23, 2023 · 124eee2 · 124eee2
1 parent edf26e9
commit 124eee2
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Showing 5 changed files with 10 additions and 29 deletions.
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -32,7 +32,7 @@
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.util.RuntimeLoader;
+import edu.wpi.first.util.CombinedRuntimeLoader;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.ArrayList;
 import java.util.List;
@@ -89,10 +89,7 @@ public class PhotonCameraSim implements AutoCloseable {
 
     static {
         try {
-            var loader =
-                    new RuntimeLoader<>(
-                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-            loader.loadLibrary();
+            CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
         } catch (Exception e) {
             throw new RuntimeException("Failed to load native libraries!", e);
         }

diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
@@ -28,7 +28,7 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.util.RuntimeLoader;
+import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.awt.image.BufferedImage;
 import java.io.IOException;
 import java.util.ArrayList;
@@ -68,10 +68,7 @@ public class VideoSimUtil {
 
     static {
         try {
-            var loader =
-                    new RuntimeLoader<>(
-                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-            loader.loadLibrary();
+            CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
         } catch (Exception e) {
             throw new RuntimeException("Failed to load native libraries!", e);
         }

diff --git a/photon-lib/src/test/java/org/photonvision/OpenCVTest.java b/photon-lib/src/test/java/org/photonvision/OpenCVTest.java
@@ -40,7 +40,6 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.util.CombinedRuntimeLoader;
-import edu.wpi.first.util.RuntimeLoader;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.List;
 import org.junit.jupiter.api.BeforeAll;
@@ -101,13 +100,9 @@ public static void setUp() {
                     "ntcorejni",
                     "wpinetjni",
                     "wpiHaljni",
+                    Core.NATIVE_LIBRARY_NAME,
                     "cscorejni",
-                    "cscorejnicvstatic");
-
-            var loader =
-                    new RuntimeLoader<>(
-                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-            loader.loadLibrary();
+                    "apriltagjni");
         } catch (Exception e) {
             e.printStackTrace();
         }

diff --git a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
@@ -46,7 +46,6 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.util.CombinedRuntimeLoader;
-import edu.wpi.first.util.RuntimeLoader;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.ArrayList;
 import java.util.List;
@@ -101,13 +100,9 @@ public static void setUp() {
                     "ntcorejni",
                     "wpinetjni",
                     "wpiHaljni",
+                    Core.NATIVE_LIBRARY_NAME,
                     "cscorejni",
-                    "cscorejnicvstatic");
-
-            var loader =
-                    new RuntimeLoader<>(
-                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-            loader.loadLibrary();
+                    "apriltagjni");
         } catch (Exception e) {
             e.printStackTrace();
         }

diff --git a/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
@@ -26,7 +26,7 @@
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.numbers.*;
-import edu.wpi.first.util.RuntimeLoader;
+import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
@@ -54,10 +54,7 @@ public final class OpenCVHelp {
 
     static {
         try {
-            var loader =
-                    new RuntimeLoader<>(
-                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-            loader.loadLibrary();
+            CombinedRuntimeLoader.loadLibraries(OpenCVHelp.class, Core.NATIVE_LIBRARY_NAME, "cscorejni");
         } catch (Exception e) {
             throw new RuntimeException("Failed to load native libraries!", e);
         }