Dual model?

photon-targeting/src/main/java/org/photonvision/jni/PhotonTargetingJniLoader.java

@@ -17,19 +17,73 @@
 
 package org.photonvision.jni;
 
+import edu.wpi.first.util.RuntimeDetector;
 import edu.wpi.first.util.RuntimeLoader;
+import java.io.File;
+import java.io.FileOutputStream;
 import java.io.IOException;
+import java.nio.file.Files;
 import java.util.List;
+import org.photonvision.common.hardware.Platform;
 
 public class PhotonTargetingJniLoader {
     public static boolean isWorking = false;
 
     public static boolean load() throws IOException, UnsatisfiedLinkError {
-        if (isWorking) return true;
+        if (isWorking)
+            return true;
+        isWorking = load_();
+        return isWorking;
+    }
+
+    public static boolean load_() throws IOException, UnsatisfiedLinkError {
+        // We always extract the shared object (we could hash each so, but that's a lot
+        // of work)
+        String arch_name = Platform.getNativeLibraryFolderName();
+        var clazz = PhotonTargetingJniLoader.class;
+
         for (var libraryName : List.of("photontargeting", "photontargetingJNI")) {
-            RuntimeLoader.loadLibrary(libraryName);
+            try {
+                RuntimeLoader.loadLibrary(libraryName);
+            } catch (Exception e) {
+                System.out.println("Direct library load failed; falling back to extraction");
+            }
+
+            var nativeLibName = System.mapLibraryName(libraryName);
+            var path = "/nativelibraries/" + arch_name + "/" + nativeLibName;
+            var in = clazz.getResourceAsStream(path);
+
+            if (in == null) {
+                System.err.println("Could not get resource at path " + path);
+                return false;
+            }
+
+            // It's important that we don't mangle the names of these files on Windows at
+            // least
+            var tempfolder = Files.createTempDirectory("nativeextract");
+            File temp = new File(tempfolder.toAbsolutePath().toString(), nativeLibName);
+            System.out.println(temp.getAbsolutePath().toString());
+            FileOutputStream fos = new FileOutputStream(temp);
+
+            int read = -1;
+            byte[] buffer = new byte[1024];
+            while ((read = in.read(buffer)) != -1) {
+                fos.write(buffer, 0, read);
+            }
+            fos.close();
+            in.close();
+
+            try {
+                System.load(temp.getAbsolutePath());
+            } catch (Throwable t) {
+                System.err.println("Unable to System.load " + temp.getName() + " : " + t.getMessage());
+                t.printStackTrace();
+                return false;
+            }
+
+            System.out.println("Successfully loaded shared object " + temp.getName());
         }
-        isWorking = true;
-        return isWorking;
+
+        return true;
     }
 }

shared/javacpp/publish.gradle

@@ -75,8 +75,30 @@ addTaskToCopyAllOutputs(cppHeadersZip)
 
 model {
     publishing {
-        def cppTaskList = createComponentZipTasks($.components, [nativeName], zipBaseName, Zip, project, includeStandardZipFormat)
-        def jniTaskList = createComponentZipTasks($.components, ["${nativeName}JNI"], jniBaseName, Zip, project, includeStandardZipFormat)
+        def cppTaskList = createComponentZipTasks($.components, [nativeName, "${nativeName}JNI"], zipBaseName, Zip, project, includeStandardZipFormat)
+
+        // From https://github.com/wpilibsuite/allwpilib/blob/1c220ebc607daa8da7d983b8f17bc40323633cb2/shared/jni/publish.gradle#L80C9-L100C11
+        def jniTaskList = createComponentZipTasks($.components, ["${nativeName}JNI"], jniBaseName, Jar, project, { task, value ->
+            value.each { binary ->
+                if (binary.buildable) {
+                    if (binary instanceof SharedLibraryBinarySpec) {
+                        task.dependsOn binary.tasks.link
+                        def hashFile = new File(binary.sharedLibraryFile.parentFile.absolutePath, "${binary.component.baseName}.hash")
+                        task.outputs.file(hashFile)
+                        task.inputs.file(binary.sharedLibraryFile)
+                        task.from(hashFile) {
+                            into nativeUtils.getPlatformPath(binary)
+                        }
+                        task.doFirst {
+                            hashFile.text = MessageDigest.getInstance("MD5").digest(binary.sharedLibraryFile.bytes).encodeHex().toString()
+                        }
+                        task.from(binary.sharedLibraryFile) {
+                            into nativeUtils.getPlatformPath(binary)
+                        }
+                    }
+                }
+            }
+        })
 
         publications {
             cpp(MavenPublication) {