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[wpiutil] Remove RuntimeLoader and RuntimeDetector
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Resolves #6598
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@spacey-sooty
spacey-sooty committed May 8, 2024
1 parent dc00a13 commit 00449e4
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Showing 22 changed files with 101 additions and 528 deletions.
12 changes: 3 additions & 9 deletions apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
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Expand Up @@ -9,16 +9,13 @@
import edu.wpi.first.apriltag.AprilTagPoseEstimate;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.util.RawFrame;
import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.util.concurrent.atomic.AtomicBoolean;

/** AprilTag JNI. */
@SuppressWarnings("PMD.AvoidCatchingGenericException")
public class AprilTagJNI {
static boolean libraryLoaded = false;

static RuntimeLoader<AprilTagJNI> loader = null;

/** Sets whether JNI should be loaded in the static block. */
public static class Helper {
private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
Expand Down Expand Up @@ -48,11 +45,8 @@ private Helper() {}
static {
if (Helper.getExtractOnStaticLoad()) {
try {
loader =
new RuntimeLoader<>(
"apriltagjni", RuntimeLoader.getDefaultExtractionRoot(), AprilTagJNI.class);
loader.loadLibrary();
} catch (IOException ex) {
System.loadLibrary("apriltagjni");
} catch (Exception ex) {
ex.printStackTrace();
System.exit(1);
}
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12 changes: 3 additions & 9 deletions apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagDetectorTest.java
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Expand Up @@ -10,7 +10,6 @@

import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.util.RuntimeLoader;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.io.InputStream;
Expand All @@ -24,21 +23,16 @@
import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.Imgproc;

@SuppressWarnings("PMD.MutableStaticState")
@SuppressWarnings({"PMD.MutableStaticState", "PMD.AvoidCatchingGenericException"})
class AprilTagDetectorTest {
@SuppressWarnings("MemberName")
AprilTagDetector detector;

static RuntimeLoader<Core> loader;

@BeforeAll
static void beforeAll() {
try {
loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
} catch (IOException ex) {
System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
} catch (Exception ex) {
fail(ex);
}
}
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4 changes: 2 additions & 2 deletions cscore/src/dev/java/edu/wpi/first/cscore/DevMain.java
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Expand Up @@ -4,13 +4,13 @@

package edu.wpi.first.cscore;

import edu.wpi.first.util.RuntimeDetector;
import edu.wpi.first.util.CombinedRuntimeLoader;

public final class DevMain {
/** Main method. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(CameraServerJNI.getHostname());
}

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16 changes: 4 additions & 12 deletions cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
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Expand Up @@ -5,18 +5,16 @@
package edu.wpi.first.cscore;

import edu.wpi.first.util.RawFrame;
import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.nio.ByteBuffer;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.Consumer;

/** CameraServer JNI. */
@SuppressWarnings("PMD.AvoidCatchingGenericException")
public class CameraServerJNI {
static boolean libraryLoaded = false;

static RuntimeLoader<CameraServerJNI> loader = null;

/** Sets whether JNI should be loaded in the static block. */
public static class Helper {
private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
Expand Down Expand Up @@ -46,11 +44,8 @@ private Helper() {}
static {
if (Helper.getExtractOnStaticLoad()) {
try {
loader =
new RuntimeLoader<>(
"cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
loader.loadLibrary();
} catch (IOException ex) {
System.loadLibrary("cscorejni");
} catch (Exception ex) {
ex.printStackTrace();
System.exit(1);
}
Expand All @@ -67,10 +62,7 @@ public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
loader =
new RuntimeLoader<>(
"cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
loader.loadLibrary();
System.loadLibrary("cscorejni");
libraryLoaded = true;
}

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17 changes: 4 additions & 13 deletions cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java
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Expand Up @@ -4,19 +4,16 @@

package edu.wpi.first.cscore;

import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.util.concurrent.atomic.AtomicBoolean;
import org.opencv.core.Core;

/** OpenCV Native Loader. */
@SuppressWarnings("PMD.AvoidCatchingGenericException")
public final class OpenCvLoader {
@SuppressWarnings("PMD.MutableStaticState")
static boolean libraryLoaded;

@SuppressWarnings("PMD.MutableStaticState")
static RuntimeLoader<Core> loader;

/** Sets whether JNI should be loaded in the static block. */
public static class Helper {
private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
Expand Down Expand Up @@ -44,13 +41,10 @@ private Helper() {}
}

static {
String opencvName = Core.NATIVE_LIBRARY_NAME;
if (Helper.getExtractOnStaticLoad()) {
try {
loader =
new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibraryHashed();
} catch (IOException ex) {
System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
} catch (Exception ex) {
ex.printStackTrace();
System.exit(1);
}
Expand All @@ -76,10 +70,7 @@ public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
libraryLoaded = true;
}

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15 changes: 4 additions & 11 deletions hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
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Expand Up @@ -4,14 +4,13 @@

package edu.wpi.first.hal;

import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.util.concurrent.atomic.AtomicBoolean;

/** Base class for all JNI wrappers. */
@SuppressWarnings("PMD.AvoidCatchingGenericException")
public class JNIWrapper {
static boolean libraryLoaded = false;
static RuntimeLoader<JNIWrapper> loader = null;

/** Sets whether JNI should be loaded in the static block. */
public static class Helper {
Expand Down Expand Up @@ -42,11 +41,8 @@ private Helper() {}
static {
if (Helper.getExtractOnStaticLoad()) {
try {
loader =
new RuntimeLoader<>(
"wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader.loadLibrary();
} catch (IOException ex) {
System.loadLibrary("wpiHaljni");
} catch (Exception ex) {
ex.printStackTrace();
System.exit(1);
}
Expand All @@ -63,10 +59,7 @@ public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
loader =
new RuntimeLoader<>(
"wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader.loadLibrary();
System.loadLibrary("wpiHaljni");
libraryLoaded = true;
}

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4 changes: 2 additions & 2 deletions ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java
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Expand Up @@ -5,13 +5,13 @@
package edu.wpi.first.ntcore;

import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.RuntimeDetector;
import edu.wpi.first.util.CombinedRuntimeLoader;

public final class DevMain {
/** Main method. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(CombinedRuntimeLoader.getPlatformPath());
NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
}

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15 changes: 4 additions & 11 deletions ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
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Expand Up @@ -6,7 +6,6 @@

package edu.wpi.first.networktables;

import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.util.datalog.DataLog;
import java.io.IOException;
import java.nio.ByteBuffer;
Expand All @@ -15,9 +14,9 @@ import java.util.OptionalLong;
import java.util.concurrent.atomic.AtomicBoolean;

/** NetworkTables JNI. */
@SuppressWarnings("PMD.AvoidCatchingGenericException")
public final class NetworkTablesJNI {
static boolean libraryLoaded = false;
static RuntimeLoader<NetworkTablesJNI> loader = null;

/** Sets whether JNI should be loaded in the static block. */
public static class Helper {
Expand Down Expand Up @@ -48,11 +47,8 @@ public final class NetworkTablesJNI {
static {
if (Helper.getExtractOnStaticLoad()) {
try {
loader =
new RuntimeLoader<>(
"ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
loader.loadLibrary();
} catch (IOException ex) {
System.loadLibrary("ntcorejni");
} catch (Exception ex) {
ex.printStackTrace();
System.exit(1);
}
Expand All @@ -69,10 +65,7 @@ public final class NetworkTablesJNI {
if (libraryLoaded) {
return;
}
loader =
new RuntimeLoader<>(
"ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
loader.loadLibrary();
System.loadLibrary("ntcorejni");
libraryLoaded = true;
}

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15 changes: 4 additions & 11 deletions ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
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4 changes: 2 additions & 2 deletions romiVendordep/src/dev/java/edu/wpi/first/wpilibj/romi/DevMain.java
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Expand Up @@ -6,13 +6,13 @@

import edu.wpi.first.hal.HALUtil;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.RuntimeDetector;
import edu.wpi.first.util.CombinedRuntimeLoader;

public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}
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4 changes: 0 additions & 4 deletions styleguide/spotbugs-exclude.xml
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Expand Up @@ -86,10 +86,6 @@
<Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
<Source name="CombinedRuntimeLoader.java" />
</Match>
<Match>
<Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
<Source name="RuntimeLoader.java" />
</Match>
<Match>
<Bug pattern="SF_SWITCH_FALLTHROUGH" />
<Source name="CameraServer.java" />
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4 changes: 2 additions & 2 deletions wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java
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Expand Up @@ -6,13 +6,13 @@

import edu.wpi.first.hal.HALUtil;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.RuntimeDetector;
import edu.wpi.first.util.CombinedRuntimeLoader;

public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}
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4 changes: 2 additions & 2 deletions wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java
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Expand Up @@ -6,13 +6,13 @@

import edu.wpi.first.hal.HALUtil;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.RuntimeDetector;
import edu.wpi.first.util.CombinedRuntimeLoader;

public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(CombinedRuntimeLoader.getPlatformPath());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}
Expand Down
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