refactor loading

Author: samfreund

photon-core/src/main/java/org/photonvision/common/LoadJNI.java

@@ -0,0 +1,79 @@
+/*
+ * 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.common;
+
+import edu.wpi.first.util.CombinedRuntimeLoader;
+import java.io.IOException;
+import org.photonvision.jni.LibraryLoader;
+
+public class LoadJNI {
+    public enum JNITypes {
+        RUBIK_DETECTOR(false),
+        RKNN_DETECTOR(false),
+        MRCAL(false),
+        LIBCAMERA(false);
+
+        private volatile boolean hasLoaded;
+
+        JNITypes(boolean hasLoaded) {
+            this.hasLoaded = hasLoaded;
+        }
+
+        public boolean hasLoaded() {
+            return hasLoaded;
+        }
+
+        public void setHasLoaded(boolean loaded) {
+            this.hasLoaded = loaded;
+        }
+    }
+
+    public static synchronized void forceLoad(JNITypes type) throws IOException {
+        loadLibraries();
+
+        if (type.hasLoaded()) {
+            return;
+        }
+
+        switch (type) {
+            case RUBIK_DETECTOR:
+                CombinedRuntimeLoader.loadLibraries(
+                        LoadJNI.class, "tensorflowlite", "tensorflowlite_c", "external_delegate", "rubik_jni");
+                type.setHasLoaded(true);
+                break;
+            case RKNN_DETECTOR:
+                CombinedRuntimeLoader.loadLibraries(LoadJNI.class, "rga", "rknnrt", "rknn_jni");
+                type.setHasLoaded(true);
+                break;
+            case MRCAL:
+                CombinedRuntimeLoader.loadLibraries(LoadJNI.class, "mrcal_jni");
+                type.setHasLoaded(true);
+                break;
+            case LIBCAMERA:
+                CombinedRuntimeLoader.loadLibraries(LoadJNI.class, "photonlibcamera");
+                type.setHasLoaded(true);
+                break;
+            default:
+                throw new IOException("Unknown JNI type: " + type);
+        }
+    }
+
+    public static boolean loadLibraries() {
+        return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
+    }
+}

photon-core/src/main/java/org/photonvision/common/util/TestUtils.java

@@ -20,41 +20,17 @@
 import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.awt.HeadlessException;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Path;
 import org.opencv.core.Mat;
 import org.opencv.highgui.HighGui;
-import org.photonvision.jni.LibraryLoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
 
 public class TestUtils {
-    private static boolean hasMrcalLoaded = false;
-
-    public static boolean loadLibraries() {
-        return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
-    }
-
-    public static boolean loadMrcal() {
-        if (hasMrcalLoaded) return true;
-        try {
-            CombinedRuntimeLoader.loadLibraries(TestUtils.class, "mrcal_jni");
-            hasMrcalLoaded = true;
-        } catch (IOException e) {
-            e.printStackTrace();
-            hasMrcalLoaded = false;
-        }
-        return hasMrcalLoaded;
-    }
-
-    public static boolean isMrcalLoaded() {
-        return hasMrcalLoaded;
-    }
-
     @SuppressWarnings("unused")
     public enum WPI2019Image {
         kCargoAngledDark48in(1.2192),

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

@@ -23,6 +23,7 @@
 import java.util.ArrayList;
 import java.util.List;
 import org.apache.commons.cli.*;
+import org.photonvision.common.LoadJNI;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
@@ -38,9 +39,6 @@
 import org.photonvision.common.logging.PvCSCoreLogger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.jni.RknnDetectorJNI;
-import org.photonvision.jni.RubikDetectorJNI;
-import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
 import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.camera.PVCameraInfo;
@@ -194,7 +192,7 @@ public static void main(String[] args) {
         }
 
         try {
-            boolean success = TestUtils.loadLibraries();
+            boolean success = LoadJNI.loadLibraries();
 
             if (!success) {
                 logger.error("Failed to load native libraries! Giving up :(");
@@ -213,19 +211,14 @@ public static void main(String[] args) {
 
         try {
             if (Platform.isRaspberryPi()) {
-                LibCameraJNILoader.forceLoad();
+                LoadJNI.forceLoad(LoadJNI.JNITypes.LIBCAMERA);
             }
         } catch (IOException e) {
             logger.error("Failed to load libcamera-JNI!", e);
         }
         try {
             if (Platform.isRK3588()) {
-                RknnDetectorJNI.forceLoad();
-                if (RknnDetectorJNI.getInstance().isLoaded()) {
-                    logger.info("RknnDetectorJNI loaded successfully.");
-                } else {
-                    logger.error("Failed to load RknnDetectorJNI!");
-                }
+                LoadJNI.forceLoad(LoadJNI.JNITypes.RKNN_DETECTOR);
             } else {
                 logger.error("Platform does not support RKNN based machine learning!");
             }
@@ -234,20 +227,16 @@ public static void main(String[] args) {
         }
         try {
             if (Platform.isQCS6490()) {
-                RubikDetectorJNI.forceLoad();
-                if (RubikDetectorJNI.getInstance().isLoaded()) {
-                    logger.info("RubikDetectorJNI loaded successfully.");
-                } else {
-                    logger.error("Failed to load RubikDetectorJNI!");
-                }
+                LoadJNI.forceLoad(LoadJNI.JNITypes.RUBIK_DETECTOR);
             } else {
                 logger.error("Platform does not support Rubik based machine learning!");
             }
         } catch (IOException e) {
             logger.error("Failed to load rubik-JNI!", e);
         }
         try {
-            TestUtils.loadMrcal();
+            LoadJNI.forceLoad(LoadJNI.JNITypes.MRCAL);
+            logger.info("mrcal-JNI loaded successfully.");
         } catch (Exception e) {
             logger.warn(
                     "Failed to load mrcal-JNI! Camera calibration will fall back to opencv\n"