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[photon-targeting] Fix JNI loading #1563

Merged
merged 13 commits into from
Nov 13, 2024
Merged

[photon-targeting] Fix JNI loading #1563

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5c7ee37
[photon-targeting] Fix JNI loading
Gold856 Nov 12, 2024
86882ad
Link JNI libs to native tests to get the libs in the right place
Gold856 Nov 12, 2024
1e72a45
Dual model?
Gold856 Nov 13, 2024
0ddf8a4
Still looks like we are outputting a JAR
mcm001 Nov 13, 2024
a10b2ed
Fixes
Gold856 Nov 13, 2024
feebdd3
Add smoketest
mcm001 Nov 13, 2024
d19f1b2
Merge branch 'fix-jni-loading' of https://github.com/Gold856/photonvi…
mcm001 Nov 13, 2024
80d82c1
oops
mcm001 Nov 13, 2024
0f976c6
whoops
mcm001 Nov 13, 2024
84ab5dd
Wait for release on dispatch (oos)
mcm001 Nov 13, 2024
3cf629a
only publish the things we care about
mcm001 Nov 13, 2024
429183f
Don't return before all libs are loaded
Gold856 Nov 13, 2024
3d7a415
Patches
Gold856 Nov 13, 2024
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1 change: 1 addition & 0 deletions photon-lib/build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,7 @@ model {
}
if(project.hasProperty('includePhotonTargeting')) {
lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
lib project: ':photon-targeting', library: 'photontargetingJNI', linkage: 'shared'
}
}

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13 changes: 0 additions & 13 deletions photon-lib/src/generate/photonlib.json.in
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Expand Up @@ -35,19 +35,6 @@
"linuxx86-64",
"osxuniversal"
]
},
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-jni",
"version": "${photon_version}",
"skipInvalidPlatforms": true,
"isJar": true,
"validPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
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]
}
],
"cppDependencies": [
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2 changes: 2 additions & 0 deletions photon-targeting/build.gradle
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Expand Up @@ -146,6 +146,8 @@ model {
}

binaries.all {
lib library: nativeName, linkage: 'shared'
lib library: "${nativeName}JNI", linkage: 'shared'
it.tasks.withType(CppCompile) {
it.dependsOn generateProto
}
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11 changes: 6 additions & 5 deletions photon-targeting/src/main/java/org/photonvision/jni/PhotonTargetingJniLoader.java
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Expand Up @@ -17,7 +17,6 @@

package org.photonvision.jni;

import edu.wpi.first.util.RuntimeDetector;
import edu.wpi.first.util.RuntimeLoader;
import java.io.File;
import java.io.FileOutputStream;
Expand All @@ -30,7 +29,8 @@ 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;
}
Expand All @@ -42,10 +42,11 @@ public static boolean load_() throws IOException, UnsatisfiedLinkError {
var clazz = PhotonTargetingJniLoader.class;

for (var libraryName : List.of("photontargeting", "photontargetingJNI")) {
if (RuntimeDetector.isAthena()) {
System.out.println("Detected rio - loading directly");
try {
RuntimeLoader.loadLibrary(libraryName);
continue;
return true;
} catch (Exception e) {
System.out.println("Direct library load failed; falling back to extraction");
}

var nativeLibName = System.mapLibraryName(libraryName);
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5 changes: 4 additions & 1 deletion shared/javacpp/publish.gradle
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Expand Up @@ -75,7 +75,10 @@ addTaskToCopyAllOutputs(cppHeadersZip)

model {
publishing {
def cppTaskList = createComponentZipTasks($.components, [nativeName], zipBaseName, Zip, project, includeStandardZipFormat)
def cppTaskList = createComponentZipTasks($.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 ->
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