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83 changes: 83 additions & 0 deletions
83
photon-core/src/main/java/org/photonvision/jni/PhotonJniCommon.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| /* | ||
| * Copyright (C) Photon Vision. | ||
| * | ||
| * This program is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This program is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
| */ | ||
|
|
||
| package org.photonvision.jni; | ||
|
|
||
| import java.io.File; | ||
| import java.io.FileOutputStream; | ||
| import java.io.IOException; | ||
| import java.util.List; | ||
| import org.photonvision.common.hardware.Platform; | ||
| import org.photonvision.common.logging.LogGroup; | ||
| import org.photonvision.common.logging.Logger; | ||
|
|
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| public abstract class PhotonJniCommon { | ||
| static boolean libraryLoaded = false; | ||
| protected static Logger logger = null; | ||
|
|
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| protected static synchronized void forceLoad(Class<?> clazz, List<String> libraries) | ||
| throws IOException { | ||
| if (libraryLoaded) return; | ||
| if (logger == null) logger = new Logger(clazz, LogGroup.Camera); | ||
|
|
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| for (var libraryName : libraries) { | ||
| try { | ||
| // We always extract the shared object (we could hash each so, but that's a lot of work) | ||
| var arch_name = Platform.getNativeLibraryFolderName(); | ||
| var nativeLibName = System.mapLibraryName(libraryName); | ||
| var in = clazz.getResourceAsStream("/nativelibraries/" + arch_name + "/" + nativeLibName); | ||
|
|
||
| if (in == null) { | ||
| libraryLoaded = false; | ||
| return; | ||
| } | ||
|
|
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| // It's important that we don't mangle the names of these files on Windows at least | ||
| File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName); | ||
| FileOutputStream fos = new FileOutputStream(temp); | ||
|
|
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| int read = -1; | ||
| byte[] buffer = new byte[1024]; | ||
| while ((read = in.read(buffer)) != -1) { | ||
| fos.write(buffer, 0, read); | ||
| } | ||
| fos.close(); | ||
| in.close(); | ||
|
|
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| System.load(temp.getAbsolutePath()); | ||
|
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| logger.info("Successfully loaded shared object " + temp.getName()); | ||
|
|
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| } catch (UnsatisfiedLinkError e) { | ||
| logger.error("Couldn't load shared object " + libraryName, e); | ||
| e.printStackTrace(); | ||
| // logger.error(System.getProperty("java.library.path")); | ||
| break; | ||
| } | ||
| } | ||
| libraryLoaded = true; | ||
| } | ||
|
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| protected static synchronized void forceLoad(Class<?> clazz, String libraryName) | ||
| throws IOException { | ||
| forceLoad(clazz, List.of(libraryName)); | ||
| } | ||
|
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| public static boolean isWorking() { | ||
| return libraryLoaded; | ||
| } | ||
| } |
60 changes: 60 additions & 0 deletions
60
photon-core/src/main/java/org/photonvision/mrcal/MrCal.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| /* | ||
| * Copyright (C) Photon Vision. | ||
| * | ||
| * This program is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This program is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
| */ | ||
|
|
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| package org.photonvision.mrcal; | ||
|
|
||
| import java.io.IOException; | ||
| import java.util.List; | ||
| import org.photonvision.common.hardware.Platform; | ||
| import org.photonvision.common.util.TestUtils; | ||
| import org.photonvision.jni.PhotonJniCommon; | ||
|
|
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| public class MrCal extends PhotonJniCommon { | ||
| public static synchronized void forceLoad() throws IOException { | ||
| // Force load opencv | ||
| TestUtils.loadLibraries(); | ||
|
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| // 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( | ||
| MrCal.class, | ||
| List.of( | ||
| "libamd", | ||
| "libcamd", | ||
| "libcolamd", | ||
| "libccolamd", | ||
| "openblas", | ||
| "libgcc_s_seh-1", | ||
| "libgfortran-5", | ||
| "liblapack", | ||
| "libcholmod", | ||
| "mrcal_jni")); | ||
| } else { | ||
| // Nothing else to do on linux | ||
| forceLoad(MrCal.class, List.of("mrcal_jni")); | ||
| } | ||
|
|
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| if (!MrCal.isWorking()) { | ||
| throw new IOException("Can't load mrcal?"); | ||
| } | ||
| } | ||
|
|
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| public static void main(String[] args) throws IOException, InterruptedException { | ||
| MrCal.forceLoad(); | ||
| } | ||
| } |
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