Use the tool plugin to include photon-targeting into photon-core (#2137)

## Description

This allows photon-targeting to be loaded using the same mechanism as
the rest of the WPILib libraries, fixing issues with libraries not being
able to find and load their dependent libraries.

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [x] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with settings back to v2025.3.2
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added

Author: Gold856

photon-core/build.gradle

@@ -8,24 +8,26 @@ apply from: "${rootDir}/shared/common.gradle"
 wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
 
 def nativeConfigName = 'wpilibNatives'
-def nativeConfig = configurations.create(nativeConfigName)
-
+configurations {
+    wpilibNatives
+}
 def nativeTasks = wpilibTools.createExtractionTasks {
     configurationName = nativeConfigName
 }
 
 nativeTasks.addToSourceSetResources(sourceSets.main)
 
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
-nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
-
 dependencies {
+    wpilibNatives project(path: ':photon-targeting', configuration: 'wpilibNatives')
+    wpilibNatives wpilibTools.deps.wpilib("wpimath")
+    wpilibNatives wpilibTools.deps.wpilib("wpinet")
+    wpilibNatives wpilibTools.deps.wpilib("wpiutil")
+    wpilibNatives wpilibTools.deps.wpilib("ntcore")
+    wpilibNatives wpilibTools.deps.wpilib("cscore")
+    wpilibNatives wpilibTools.deps.wpilib("apriltag")
+    wpilibNatives wpilibTools.deps.wpilib("hal")
+    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
+
     // Zip
     implementation 'org.zeroturnaround:zt-zip:1.14'
 

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/TimeSyncManager.java

@@ -25,7 +25,6 @@
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.jni.TimeSyncClient;
 import org.photonvision.jni.TimeSyncServer;
 
@@ -43,10 +42,6 @@ public class TimeSyncManager {
     IntegerPublisher m_lastPongTimePub;
 
     public TimeSyncManager(NetworkTable kRootTable) {
-        if (!PhotonTargetingJniLoader.isWorking) {
-            logger.error("PhotonTargetingJNI was not loaded! Cannot do time-sync");
-        }
-
         this.ntInstance = kRootTable.getInstance();
 
         // Need this subtable to be unique per coprocessor. TODO: consider using MAC address or
@@ -65,18 +60,10 @@ public TimeSyncManager(NetworkTable kRootTable) {
 
     // Since we're spinning off tasks in a new thread, be careful and start it seperately
     public void start() {
-        if (!PhotonTargetingJniLoader.isWorking) {
-            logger.error("PhotonTargetingJNI was not loaded! Cannot start");
-        }
-
         TimedTaskManager.getInstance().addTask("TimeSyncManager::tick", this::tick, 1000);
     }
 
     public synchronized long getOffset() {
-        if (!PhotonTargetingJniLoader.isWorking) {
-            return 0;
-        }
-
         // if we're a client, return the offset to server time
         if (m_client != null) return m_client.getOffset();
         // if we're a server, our time (nt::Now) is the same as network time
@@ -88,10 +75,6 @@ public synchronized long getOffset() {
     }
 
     synchronized void setConfig(NetworkConfig config) {
-        if (!PhotonTargetingJniLoader.isWorking) {
-            return;
-        }
-
         if (m_client == null && m_server == null) {
             throw new RuntimeException("Neither client nor server are null?");
         }

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

@@ -26,14 +26,14 @@
 import java.nio.file.Path;
 import org.opencv.core.Mat;
 import org.opencv.highgui.HighGui;
-import org.photonvision.jni.WpilibLoader;
+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 {
     public static boolean loadLibraries() {
-        return WpilibLoader.loadLibraries();
+        return LibraryLoader.loadWpiLibraries() && LibraryLoader.loadTargeting();
     }
 
     @SuppressWarnings("unused")

photon-core/src/test/java/org/photonvision/hardware/HardwareTest.java

@@ -20,25 +20,18 @@
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import java.io.IOException;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.hardware.GPIO.CustomGPIO;
 import org.photonvision.common.hardware.GPIO.GPIOBase;
 import org.photonvision.common.hardware.GPIO.pi.PigpioPin;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.hardware.metrics.MetricsManager;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.jni.PhotonTargetingJniLoader;
 
 public class HardwareTest {
     @Test
     public void testHardware() {
-        try {
-            TestUtils.loadLibraries();
-            PhotonTargetingJniLoader.load();
-        } catch (UnsatisfiedLinkError | IOException e) {
-            e.printStackTrace();
-        }
+        TestUtils.loadLibraries();
         MetricsManager mm = new MetricsManager();
 
         if (!Platform.isRaspberryPi()) return;

photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java

@@ -41,24 +41,20 @@
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.jni.PhotonTargetingJniLoader;
-import org.photonvision.jni.WpilibLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 
 public class FileSaveFrameConsumerTest {
     NetworkTableInstance inst = null;
 
     @BeforeAll
-    public static void init() throws UnsatisfiedLinkError, IOException {
-        if (!WpilibLoader.loadLibraries()) {
+    public static void init() throws IOException {
+        if (!LibraryLoader.loadWpiLibraries()) {
             fail();
         }
 
-        try {
-            if (!PhotonTargetingJniLoader.load()) fail();
-        } catch (UnsatisfiedLinkError | IOException e) {
-            e.printStackTrace();
-            fail(e);
+        if (!LibraryLoader.loadTargeting()) {
+            fail();
         }
     }
 

photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java

@@ -22,7 +22,6 @@
 import static org.junit.jupiter.api.Assertions.fail;
 
 import edu.wpi.first.cscore.VideoMode;
-import java.io.IOException;
 import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
@@ -32,7 +31,7 @@
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.util.TestUtils;
-import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameras.USBCameraSource;
@@ -48,12 +47,7 @@ public static void init() {
         System.out.print(classpathStr);
 
         TestUtils.loadLibraries();
-        try {
-            if (!PhotonTargetingJniLoader.load()) fail();
-        } catch (UnsatisfiedLinkError | IOException e) {
-            e.printStackTrace();
-            fail(e);
-        }
+        if (!LibraryLoader.loadTargeting()) fail();
     }
 
     private static class TestSource extends VisionSource {

photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java

@@ -17,7 +17,6 @@
 
 package org.photonvision.vision.processes;
 
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
@@ -33,7 +32,6 @@
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.file.JacksonUtils;
-import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.vision.camera.PVCameraInfo;
 
 public class VisionSourceManagerTest {
@@ -59,9 +57,7 @@ public void teardown() {
 
     @BeforeAll
     public static void loadLibraries() {
-        TestUtils.loadLibraries();
-        assertDoesNotThrow(PhotonTargetingJniLoader::load);
-        assertTrue(PhotonTargetingJniLoader.isWorking);
+        assertTrue(TestUtils.loadLibraries());
 
         // Broadcast all still calls into configmanager (ew) so set that up here
         ConfigManager.getInstance().load();

photon-lib/build.gradle

@@ -363,6 +363,9 @@ def nativeTasks = wpilibTools.createExtractionTasks {
 
 nativeTasks.addToSourceSetResources(sourceSets.test)
 
+dependencies {
+    wpilibNatives project(":photon-targeting")
+}
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")

photon-lib/src/main/java/org/photonvision/timesync/TimeSyncSingleton.java

@@ -24,8 +24,8 @@
 
 package org.photonvision.timesync;
 
+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
-import org.photonvision.jni.PhotonTargetingJniLoader;
 import org.photonvision.jni.TimeSyncServer;
 
 /** Helper to hold a single TimeSyncServer instance with some default config */
@@ -35,12 +35,11 @@ public class TimeSyncSingleton {
     public static boolean load() {
         if (INSTANCE == null) {
             try {
-                if (!PhotonTargetingJniLoader.load()) {
-                    return false;
-                }
-            } catch (UnsatisfiedLinkError | IOException e) {
+                RuntimeLoader.loadLibrary("photontargetingJNI");
+            } catch (IOException e) {
+                // Don't want to return early. We want to create the TimeSyncServer so the program crashes
+                // because we need it in order to function.
                 e.printStackTrace();
-                return false;
             }
 
             INSTANCE = new TimeSyncServer(5810);

photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java

@@ -35,6 +35,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.RuntimeLoader;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
@@ -55,9 +56,8 @@
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
 import org.photonvision.common.dataflow.structures.Packet;
-import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.jni.LibraryLoader;
 import org.photonvision.jni.TimeSyncClient;
-import org.photonvision.jni.WpilibLoader;
 import org.photonvision.simulation.PhotonCameraSim;
 import org.photonvision.targeting.PhotonPipelineMetadata;
 import org.photonvision.targeting.PhotonPipelineResult;
@@ -68,8 +68,9 @@ class PhotonCameraTest {
     NetworkTableInstance inst = null;
 
     @BeforeAll
-    public static void load_wpilib() {
-        WpilibLoader.loadLibraries();
+    public static void load() throws IOException {
+        LibraryLoader.loadWpiLibraries();
+        RuntimeLoader.loadLibrary("photontargetingJNI");
     }
 
     @BeforeEach
@@ -111,9 +112,6 @@ public void testEmpty() {
     @Test
     @Order(3)
     public void testTimeSyncServerWithPhotonCamera() throws InterruptedException, IOException {
-        load_wpilib();
-        PhotonTargetingJniLoader.load();
-
         inst.stopClient();
         inst.startServer();