[wpiutil] Remove RuntimeLoader and RuntimeDetector

Resolves #6598
wpilibsuite · May 8, 2024 · df7aa18 · df7aa18
1 parent dc00a13
commit df7aa18
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Showing 22 changed files with 91 additions and 527 deletions.
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java b/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
@@ -9,16 +9,12 @@
 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. */
 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);
@@ -48,11 +44,8 @@ private Helper() {}
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader =
-            new RuntimeLoader<>(
-                "apriltagjni", RuntimeLoader.getDefaultExtractionRoot(), AprilTagJNI.class);
-        loader.loadLibrary();
-      } catch (IOException ex) {
+        System.loadLibrary("aprilltagjni");
+      } catch (Exception ex) {
         ex.printStackTrace();
         System.exit(1);
       }

diff --git a/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagDetectorTest.java b/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagDetectorTest.java
@@ -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;
@@ -29,16 +28,11 @@ 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);
     }
   }

diff --git a/cscore/src/dev/java/edu/wpi/first/cscore/DevMain.java b/cscore/src/dev/java/edu/wpi/first/cscore/DevMain.java
@@ -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());
   }
 

diff --git a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
@@ -5,7 +5,6 @@
 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;
@@ -15,8 +14,6 @@
 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);
@@ -46,11 +43,8 @@ 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);
       }
@@ -67,10 +61,7 @@ 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;
   }
 

diff --git a/cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java b/cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java
@@ -4,7 +4,6 @@
 
 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;
@@ -14,9 +13,6 @@ 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);
@@ -44,13 +40,10 @@ 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);
       }
@@ -76,10 +69,7 @@ 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;
   }
 

diff --git a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
@@ -4,14 +4,12 @@
 
 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. */
 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 {
@@ -42,11 +40,8 @@ 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);
       }
@@ -63,10 +58,7 @@ 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;
   }
 

diff --git a/ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java b/ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java
@@ -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());
   }
 

diff --git a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
@@ -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;
@@ -17,7 +16,6 @@ import java.util.concurrent.atomic.AtomicBoolean;
 /** NetworkTables JNI. */
 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 {
@@ -48,11 +46,8 @@ 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);
       }
@@ -69,10 +64,7 @@ public final class NetworkTablesJNI {
     if (libraryLoaded) {
       return;
     }
-    loader =
-        new RuntimeLoader<>(
-            "ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
-    loader.loadLibrary();
+    System.loadLibrary("ntcorejni");
     libraryLoaded = true;
   }
 

diff --git a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
diff --git a/romiVendordep/src/dev/java/edu/wpi/first/wpilibj/romi/DevMain.java b/romiVendordep/src/dev/java/edu/wpi/first/wpilibj/romi/DevMain.java
@@ -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());
   }

diff --git a/styleguide/spotbugs-exclude.xml b/styleguide/spotbugs-exclude.xml
@@ -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" />

diff --git a/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java b/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java
@@ -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());
   }

diff --git a/wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java b/wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java
@@ -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());
   }