Move to maven JNI

build.gradle

@@ -11,6 +11,7 @@ allprojects {
         mavenCentral()
         mavenLocal()
         maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
     }
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -30,13 +31,14 @@ ext {
     isDev = pubVersion.startsWith("dev")
 
     // A list, for legacy reasons, with only the current platform contained
-    String nativeName = wpilibTools.platformMapper.currentPlatform.platformName;
-    if (nativeName == "linuxx64") nativeName = "linuxx86-64";
-    if (nativeName == "winx64") nativeName = "windowsx86-64";
-    if (nativeName == "macx64") nativeName = "osxx86-64";
-    if (nativeName == "macarm64") nativeName = "osxarm64";
+    wpilibNativeName = wpilibTools.platformMapper.currentPlatform.platformName;
+    def nativeName = wpilibNativeName
+    if (wpilibNativeName == "linuxx64") nativeName = "linuxx86-64";
+    if (wpilibNativeName == "winx64") nativeName = "windowsx86-64";
+    if (wpilibNativeName == "macx64") nativeName = "osxx86-64";
+    if (wpilibNativeName == "macarm64") nativeName = "osxarm64";
     jniPlatform = nativeName
-    println("Building for platform " + jniPlatform)
+    println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
 }
 
 wpilibTools.deps.wpilibVersion = wpilibVersion

photon-core/build.gradle

@@ -27,6 +27,9 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("apriltag")
 
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
+
+    implementation "org.photonvision:photon-mrcal-java:dev-Unknown"
+    implementation "org.photonvision:photon-mrcal-jni:dev-Unknown:" + wpilibNativeName;
 }
 
 task writeCurrentVersionJava {

photon-core/src/main/java/org/photonvision/common/hardware/Platform.java

@@ -28,9 +28,9 @@
 @SuppressWarnings("unused")
 public enum Platform {
     // WPILib Supported (JNI)
-    WINDOWS_64("Windows x64", "winx86-64", false, OSType.WINDOWS, true),
-    LINUX_32("Linux x86", "linuxx86-64", false, OSType.LINUX, true),
-    LINUX_64("Linux x64", "linuxx86-64", false, OSType.LINUX, true),
+    WINDOWS_64("Windows x64", "winx64", false, OSType.WINDOWS, true),
+    LINUX_32("Linux x86", "linuxx64", false, OSType.LINUX, true),
+    LINUX_64("Linux x64", "linuxx64", false, OSType.LINUX, true),
     LINUX_RASPBIAN32(
             "Linux Raspbian 32-bit",
             "linuxarm32",
@@ -51,7 +51,7 @@ public enum Platform {
     LINUX_ARM64("Linux ARM64", "linuxarm64", false, OSType.LINUX, true), // ODROID C2, N2
 
     // Completely unsupported
-    WINDOWS_32("Windows x86", "windowsx86-64", false, OSType.WINDOWS, false),
+    WINDOWS_32("Windows x86", "windowsx64", false, OSType.WINDOWS, false),
     MACOS("Mac OS", "osxuniversal", false, OSType.MACOS, false),
     UNKNOWN("Unsupported Platform", "", false, OSType.UNKNOWN, false);
 
@@ -233,4 +233,9 @@ private static boolean fileHasText(String filename, String text) {
             return false;
         }
     }
+
+    public static boolean isWindows() {
+        var p = getCurrentPlatform();
+        return (p == WINDOWS_32 || p == WINDOWS_64);
+    }
 }

photon-core/src/main/java/org/photonvision/jni/PhotonJniCommon.java

@@ -24,6 +24,8 @@
 import java.net.URL;
 import java.nio.file.Files;
 import java.nio.file.Path;
+import java.util.List;
+
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -32,44 +34,52 @@ public abstract class PhotonJniCommon {
     static boolean libraryLoaded = false;
     protected static Logger logger = null;
 
-    protected static synchronized void forceLoad(Class<?> clazz, String libraryName) throws IOException {
-        if (libraryLoaded) return;
-        if (logger == null) logger = new Logger(clazz, LogGroup.Camera);
-
-        try {
+    protected static synchronized void forceLoad(Class<?> clazz, List<String> libraries) throws IOException {
+        if (libraryLoaded)
+            return;
+        if (logger == null)
+            logger = new Logger(clazz, LogGroup.Camera);
 
-            // 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;
-            }
+        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);
 
-            File temp = File.createTempFile(nativeLibName, "");
-            FileOutputStream fos = new FileOutputStream(temp);
+                if (in == null) {
+                    libraryLoaded = false;
+                    return;
+                }
 
-            int read = -1;
-            byte[] buffer = new byte[1024];
-            while((read = in.read(buffer)) != -1) {
-                fos.write(buffer, 0, read);
-            }
-            fos.close();
-            in.close();
+                // 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);
 
-            System.load(temp.getAbsolutePath());
+                int read = -1;
+                byte[] buffer = new byte[1024];
+                while ((read = in.read(buffer)) != -1) {
+                    fos.write(buffer, 0, read);
+                }
+                fos.close();
+                in.close();
 
-            libraryLoaded = true;
-            logger.info("Successfully loaded shared object");
+                System.load(temp.getAbsolutePath());
 
+                logger.info("Successfully loaded shared object " + temp.getName());
 
-        } catch (UnsatisfiedLinkError e) {
-            logger.error("Couldn't load shared object", e);
-            e.printStackTrace();
-            logger.error(System.getProperty("java.library.path"));
+            } catch (UnsatisfiedLinkError e) {
+                logger.error("Couldn't load shared object " + libraryName, e);
+                e.printStackTrace();
+                // logger.error(System.getProperty("java.library.path"));
+                break;
+            }
         }
+        libraryLoaded = true;
+    }
+
+    protected static synchronized void forceLoad(Class<?> clazz, String libraryName) throws IOException {
+        forceLoad(clazz, List.of(libraryName));
     }
 
     public static boolean isWorking() {

photon-core/src/main/java/org/photonvision/mrcal/MrCal.java

@@ -0,0 +1,43 @@
+/*
+ * 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.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;
+
+public class MrCal extends PhotonJniCommon {
+
+    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(MrCal.class, List.of("libamd", "libcamd", "libcolamd", "libccolamd", "openblas", "libgcc_s_seh-1", "libgfortran-5", "liblapack", "libcholmod", "mrcal_jni"));
+        }
+    }
+
+    public static void main(String[] args) throws IOException, InterruptedException {
+        MrCal.forceLoad();
+    }
+}

photon-core/src/test/java/org/photonvision/mrcal/MrCalTest.java

@@ -30,10 +30,15 @@
 public class MrCalTest {
     @BeforeAll
     static public void load() {
-        assertDoesNotThrow(MrCalJNI::forceLoad);
+        assertDoesNotThrow(MrCal::forceLoad);
         assertDoesNotThrow(TestUtils::loadLibraries);
     }
 
+    @Test
+    public void smokeTest() {
+
+    }
+
     @Test
     public void calibrateSquares640x480_pi() {
         // Pi3 and V1.3 camera