no worke

PhotonVision · Jan 10, 2024 · 14d8c9a · 14d8c9a
1 parent ff03d15
commit 14d8c9a
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Showing 7 changed files with 92 additions and 29 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -142,7 +142,7 @@ public Map<String, Object> toHashMap() {
                 LibCameraJNILoader.isSupported()
                         ? "Zerocopy Libcamera Working"
                         : ""); // TODO add support for other types of GPU accel
-        generalSubmap.put("mrCalWorking", MrCalJNILoader.isWorking());
+        generalSubmap.put("mrCalWorking", MrCalJNILoader.getInstance().isLoaded());
         generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
         generalSubmap.put("hardwarePlatform", Platform.getPlatformName());
         settingsSubmap.put("general", generalSubmap);

diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -46,7 +46,7 @@ public enum Platform {
             OSType.LINUX,
             true), // Raspberry Pi 3/4 with a 64-bit image
     LINUX_RK3588_64(
-        "Linux Armbian 64-bit with RK388",
+        "Linux AARCH 64-bit with RK388",
         "linuxarm64",
         false,
         OSType.LINUX,
@@ -102,6 +102,9 @@ private enum OSType {
     public static boolean isLinux() {
         return currentPlatform.osType == OSType.LINUX;
     }
+    public static boolean isRK3588() {
+        return Platform.isOrangePi();
+    }
 
     public static boolean isRaspberryPi() {
         return currentPlatform.isPi;
@@ -195,7 +198,12 @@ private static Platform getCurrentPlatform() {
                 return LINUX_32;
             } else if (RuntimeDetector.isArm64()) {
                 // TODO - os detection needed?
-                return LINUX_AARCH64;
+                if(isOrangePi()) {
+                    return LINUX_RK3588_64;
+                }
+                else {
+                    return LINUX_AARCH64;
+                }     
             } else if (RuntimeDetector.isArm32()) {
                 return LINUX_ARM32;
             } else {
@@ -212,6 +220,9 @@ private static Platform getCurrentPlatform() {
     private static boolean isPiSBC() {
         return fileHasText("/proc/cpuinfo", "Raspberry Pi");
     }
+    private static boolean isOrangePi() {
+        return fileHasText("/proc/cpuinfo", "Orange Pi 5");
+    }
 
     private static boolean isJetsonSBC() {
         // https://forums.developer.nvidia.com/t/how-to-recognize-jetson-nano-device/146624

diff --git a/photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java b/photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java
@@ -26,12 +26,13 @@
 import org.photonvision.common.logging.Logger;
 
 public abstract class PhotonJNICommon {
-    static boolean libraryLoaded = false;
+    public abstract boolean isLoaded();
+    public abstract void setLoaded(boolean state);
     protected static Logger logger = null;
 
-    protected static synchronized void forceLoad(Class<?> clazz, List<String> libraries)
+    protected static synchronized void forceLoad(PhotonJNICommon instance, Class<?> clazz, List<String> libraries)
             throws IOException {
-        if (libraryLoaded) return;
+        if (instance.isLoaded()) return;
         if (logger == null) logger = new Logger(clazz, LogGroup.Camera);
 
         for (var libraryName : libraries) {
@@ -42,7 +43,7 @@ protected static synchronized void forceLoad(Class<?> clazz, List<String> librar
                 var in = clazz.getResourceAsStream("/nativelibraries/" + arch_name + "/" + nativeLibName);
 
                 if (in == null) {
-                    libraryLoaded = false;
+                    instance.setLoaded(false);
                     return;
                 }
 
@@ -69,15 +70,11 @@ protected static synchronized void forceLoad(Class<?> clazz, List<String> librar
                 break;
             }
         }
-        libraryLoaded = true;
+        instance.setLoaded(true);
     }
 
-    protected static synchronized void forceLoad(Class<?> clazz, String libraryName)
+    protected static synchronized void forceLoad(PhotonJNICommon instance, Class<?> clazz, String libraryName)
             throws IOException {
-        forceLoad(clazz, List.of(libraryName));
-    }
-
-    public static boolean isWorking() {
-        return libraryLoaded;
+        forceLoad(instance, clazz, List.of(libraryName));
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/jni/RknnDetector.java b/photon-core/src/main/java/org/photonvision/jni/RknnDetector.java
@@ -5,20 +5,39 @@
 import java.util.stream.Collector;
 import java.util.stream.Collectors;
 
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.rknn.RknnJNI;
 import org.photonvision.rknn.RknnJNI.RknnResult;
 import org.opencv.core.Rect2d;
-import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;
 
 public class RknnDetector extends PhotonJNICommon {
-    static long objPointer = 0;
+    private static final Logger logger = new Logger(RknnDetector.class, LogGroup.General);
+    static long objPointer = -1;
     static boolean hasBeenDestroyed = false;
+    private boolean isLoaded;
+    private static RknnDetector instance = null;
+    private RknnDetector() {
+        isLoaded = false;
+        objPointer = RknnJNI.create("null");
+    }
+    public static RknnDetector getRknnDetector() {
+        if (instance == null)
+            instance = new RknnDetector();
+
+        return instance;
+    }
+
     public static synchronized void forceLoad() throws IOException {
-        forceLoad(RknnDetector.class, List.of("rknn_jni", "rga", "rknnrt"));
+        TestUtils.loadLibraries();
+
+        forceLoad(getRknnDetector(), RknnDetector.class, List.of("rknn_jni", "rga", "rknnrt"));
+        logger.debug("HEY");
     }
-
     public static List<NeuralNetworkPipeResult> detect(CVMat in) {
         RknnResult[] ret = RknnJNI.detect(objPointer, in.getMat().getNativeObjAddr());
 
@@ -36,10 +55,13 @@ public static void release() {
         }
 
     }
-
-    public static void main(String[] args) throws IOException {
-        TestUtils.loadLibraries();
-        forceLoad();
-        objPointer = RknnJNI.create("null");
+    @Override
+    public boolean isLoaded() {
+        return isLoaded;
+    }
+    @Override
+    public void setLoaded(boolean state) {
+        isLoaded = state;
     }
+
 }
diff --git a/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java b/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java
@@ -24,14 +24,26 @@
 import org.photonvision.jni.PhotonJNICommon;
 
 public class MrCalJNILoader extends PhotonJNICommon {
+    private boolean isLoaded;
+    private static MrCalJNILoader instance = null;
+    private MrCalJNILoader() {
+        isLoaded = false;
+    }
+    public static synchronized MrCalJNILoader getInstance()
+    {
+        if (instance == null)
+            instance = new MrCalJNILoader();
+
+        return instance;
+    }
     public static synchronized void forceLoad() throws IOException {
         // Force load opencv
         TestUtils.loadLibraries();
-
+        
         // Library naming is dumb and has "lib" appended for Windows when it ought not to
         if (Platform.isWindows()) {
             // Order is correct to match dependencies of libraries
-            forceLoad(
+            forceLoad(MrCalJNILoader.getInstance(),
                     MrCalJNILoader.class,
                     List.of(
                             "libamd",
@@ -46,11 +58,21 @@ public static synchronized void forceLoad() throws IOException {
                             "mrcal_jni"));
         } else {
             // Nothing else to do on linux
-            forceLoad(MrCalJNILoader.class, List.of("mrcal_jni"));
+            forceLoad(MrCalJNILoader.getInstance(),MrCalJNILoader.class, List.of("mrcal_jni"));
         }
 
-        if (!MrCalJNILoader.isWorking()) {
+        if (!MrCalJNILoader.getInstance().isLoaded()) {
             throw new IOException("Unable to load mrcal JNI!");
         }
     }
+
+    @Override
+    public boolean isLoaded() {
+        return isLoaded;
+    }
+
+    @Override
+    public void setLoaded(boolean state) {
+        isLoaded = state;
+    }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -77,7 +77,7 @@ protected CameraCalibrationCoefficients process(
 
         CameraCalibrationCoefficients ret;
         var start = System.nanoTime();
-        if (MrCalJNILoader.isWorking() && params.useMrCal) {
+        if (MrCalJNILoader.getInstance().isLoaded() && params.useMrCal) {
             logger.debug("Calibrating with mrcal!");
             ret = calibrateMrcal(in);
         } else {

diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
@@ -38,6 +38,7 @@
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.mrcal.MrCalJNILoader;
+import org.photonvision.jni.RknnDetector;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
 import org.photonvision.vision.camera.FileVisionSource;
@@ -317,7 +318,17 @@ public static void main(String[] args) {
         } catch (IOException e) {
             logger.error("Failed to load libcamera-JNI!", e);
         }
-
+        try {
+
+                logger.warn("LOADING RK3588");
+                logger.debug("LOADING RK3588");
+                logger.debug("LOADING RK3588");
+                logger.debug("LOADING RK3588");
+                logger.debug("LOADING RK3588");
+                RknnDetector.forceLoad();
+        } catch (IOException e) {
+            logger.error("Failed to load rknn-JNI!", e);
+        }
         try {
             MrCalJNILoader.forceLoad();
         } catch (IOException e) {