Remove PhotonJNICommon in favor of CombinedRuntimeLoader

.github/workflows/build.yml

@@ -416,35 +416,31 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
+          - image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
+          - image_suffix: rubikpi3
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz
+            root_location: 'offset=569376768'
+          - image_suffix: orangepi5
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
 
-    runs-on: ${{ matrix.os }}
+    runs-on: ubuntu-24.04-arm
     name: smoketest-${{ matrix.image_suffix }}
 
     steps:
       - uses: actions/download-artifact@v4
         with:
-          name: jar-${{ matrix.artifact-name }}
+          name: jar-LinuxArm64
 
-      - uses: pguyot/arm-runner-action@v2
+      - uses: photonvision/photon-image-runner@HEAD
         name: Run photon smoketest
         id: generate_image
         with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
+          image_url: ${{ matrix.image_url }}
+          root_location: ${{ matrix.root_location || 'partition=2' }}
           # our image better have java installed already
           commands: |
-            java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+            java -jar *.jar --smoketest
 
   build-image:
     needs: [build-package]

build.gradle

@@ -37,9 +37,9 @@ ext {
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
     javalinVersion = "6.7.0"
-    libcameraDriverVersion = "v2025.0.4"
-    rknnVersion = "dev-v2025.0.0-5-g666c0c6"
-    rubikVersion = "dev-v2025.1.0-6-g4a5e508"
+    libcameraDriverVersion = "dev-v2025.0.4-2-gc91d4b7"
+    rknnVersion = "dev-v2025.0.0-7-g83c1bf3"
+    rubikVersion = "dev-v2025.1.0-7-g39588a8"
     frcYear = "2025"
     mrcalVersion = "dev-v2025.0.0-2-g2adb187";
 

photon-core/build.gradle

@@ -28,25 +28,31 @@ dependencies {
     wpilibNatives wpilibTools.deps.wpilib("hal")
     wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
 
-    // Zip
+    // These stay as implementation dependencies since they don't have native code that gets packaged
     implementation 'org.zeroturnaround:zt-zip:1.14'
-
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
-    implementation("org.photonvision:rknn_jni-jni:$rknnVersion:linuxarm64") {
-        transitive = false
+
+    // The JNI libraries use wpilibNatives, the java libraries use implementation
+    if (jniPlatform == "linuxarm64") {
+        wpilibNatives("org.photonvision:rknn_jni-jni:$rknnVersion:$wpilibNativeName") {
+            transitive = false
+        }
+        wpilibNatives("org.photonvision:rubik_jni-jni:$rubikVersion:$wpilibNativeName") {
+            transitive = false
+        }
+        wpilibNatives("org.photonvision:photon-libcamera-gl-driver-jni:$libcameraDriverVersion:$wpilibNativeName") {
+            transitive = false
+        }
     }
+
     implementation("org.photonvision:rknn_jni-java:$rknnVersion") {
         transitive = false
     }
-    implementation("org.photonvision:rubik_jni-jni:$rubikVersion:linuxarm64") {
-        transitive = false
-    }
+
     implementation("org.photonvision:rubik_jni-java:$rubikVersion") {
         transitive = false
     }
-    implementation("org.photonvision:photon-libcamera-gl-driver-jni:$libcameraDriverVersion:linuxarm64") {
-        transitive = false
-    }
+
     implementation "org.photonvision:photon-libcamera-gl-driver-java:$libcameraDriverVersion"
 
     implementation "org.photonvision:photon-mrcal-java:$mrcalVersion"

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

@@ -0,0 +1,59 @@
+/*
+ * 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 java.util.HashMap;
+import org.photonvision.jni.LibraryLoader;
+
+public class LoadJNI {
+    private static HashMap<JNITypes, Boolean> loadedMap = new HashMap<>();
+
+    public enum JNITypes {
+        RUBIK_DETECTOR("tensorflowlite", "tensorflowlite_c", "external_delegate", "rubik_jni"),
+        RKNN_DETECTOR("rga", "rknnrt", "rknn_jni"),
+        MRCAL("mrcal_jni"),
+        LIBCAMERA("photonlibcamera");
+
+        public final String[] libraries;
+
+        JNITypes(String... libraries) {
+            this.libraries = libraries;
+        }
+    }
+
+    public static synchronized void forceLoad(JNITypes type) throws IOException {
+        loadLibraries();
+
+        if (loadedMap.getOrDefault(type, false)) {
+            return;
+        }
+
+        CombinedRuntimeLoader.loadLibraries(LoadJNI.class, type.libraries);
+        loadedMap.put(type, true);
+    }
+
+    public static boolean loadLibraries() {
+        return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
+    }
+
+    public static boolean hasLoaded(JNITypes t) {
+        return loadedMap.getOrDefault(t, false);
+    }
+}

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIPhotonConfiguration.java

@@ -19,14 +19,14 @@
 
 import java.util.List;
 import org.photonvision.PhotonVersion;
+import org.photonvision.common.LoadJNI;
+import org.photonvision.common.LoadJNI.JNITypes;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
 import org.photonvision.common.configuration.PhotonConfiguration;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.networking.NetworkUtils;
-import org.photonvision.common.util.TestUtils;
-import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionSourceManager;
 
@@ -53,8 +53,8 @@ public static UIPhotonConfiguration programStateToUi(PhotonConfiguration c) {
                         new UIGeneralSettings(
                                 PhotonVersion.versionString,
                                 // TODO add support for other types of GPU accel
-                                LibCameraJNILoader.getInstance().isSupported() ? "Zerocopy Libcamera Working" : "",
-                                TestUtils.isMrcalLoaded(),
+                                LoadJNI.hasLoaded(JNITypes.LIBCAMERA) ? "Zerocopy Libcamera Working" : "",
+                                LoadJNI.hasLoaded(JNITypes.MRCAL),
                                 c.neuralNetworkPropertyManager().getModels(),
                                 NeuralNetworkModelManager.getInstance().getSupportedBackends(),
                                 c.getHardwareConfig().deviceName.isEmpty()

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),