Modify forceLoad to return isLoaded

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

@@ -32,9 +32,9 @@ public abstract class PhotonJNICommon {
 
     protected static Logger logger = null;
 
-    protected static synchronized void forceLoad(
+    protected static synchronized boolean forceLoad(
             PhotonJNICommon instance, Class<?> clazz, List<String> libraries) throws IOException {
-        if (instance.isLoaded()) return;
+        if (instance.isLoaded()) return true;
         if (logger == null) logger = new Logger(clazz, LogGroup.Camera);
 
         for (var libraryName : libraries) {
@@ -46,7 +46,8 @@ protected static synchronized void forceLoad(
 
                 if (in == null) {
                     instance.setLoaded(false);
-                    return;
+                    logger.error("Failed to find internal native library " + nativeLibName);
+                    return false;
                 }
 
                 // It's important that we don't mangle the names of these files on Windows at least
@@ -70,14 +71,15 @@ protected static synchronized void forceLoad(
                 e.printStackTrace();
                 // logger.error(System.getProperty("java.library.path"));
                 instance.setLoaded(false);
-                return;
+                return false;
             }
         }
         instance.setLoaded(true);
+        return instance.isLoaded();
     }
 
-    protected static synchronized void forceLoad(
+    protected static synchronized boolean forceLoad(
             PhotonJNICommon instance, Class<?> clazz, String libraryName) throws IOException {
-        forceLoad(instance, clazz, List.of(libraryName));
+        return forceLoad(instance, clazz, List.of(libraryName));
     }
 }

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

@@ -35,10 +35,10 @@ public static RknnDetectorJNI getInstance() {
         return instance;
     }
 
-    public static synchronized void forceLoad() throws IOException {
+    public static synchronized boolean forceLoad() throws IOException {
         TestUtils.loadLibraries();
 
-        forceLoad(getInstance(), RknnDetectorJNI.class, List.of("rga", "rknnrt", "rknn_jni"));
+        return forceLoad(getInstance(), RknnDetectorJNI.class, List.of("rga", "rknnrt", "rknn_jni"));
     }
 
     @Override

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

@@ -37,14 +37,14 @@ public static synchronized MrCalJNILoader getInstance() {
         return instance;
     }
 
-    public static synchronized void forceLoad() throws IOException {
+    public static synchronized boolean 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(
+            return forceLoad(
                     MrCalJNILoader.getInstance(),
                     MrCalJNILoader.class,
                     List.of(
@@ -62,11 +62,7 @@ public static synchronized void forceLoad() throws IOException {
                             "mrcal_jni"));
         } else {
             // Nothing else to do on linux
-            forceLoad(MrCalJNILoader.getInstance(), MrCalJNILoader.class, List.of("mrcal_jni"));
-        }
-
-        if (!MrCalJNILoader.getInstance().isLoaded()) {
-            throw new IOException("Unable to load mrcal JNI!");
+            return forceLoad(MrCalJNILoader.getInstance(), MrCalJNILoader.class, List.of("mrcal_jni"));
         }
     }
 

photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java

@@ -31,8 +31,8 @@ public class LibCameraJNILoader {
     private static boolean libraryLoaded = false;
     private static final Logger logger = new Logger(LibCameraJNILoader.class, LogGroup.Camera);
 
-    public static synchronized void forceLoad() throws IOException {
-        if (libraryLoaded) return;
+    public static synchronized boolean forceLoad() throws IOException {
+        if (libraryLoaded) return true;
 
         var libraryName = "photonlibcamera";
 
@@ -46,7 +46,7 @@ public static synchronized void forceLoad() throws IOException {
             if (in == null) {
                 logger.error("Failed to find internal native library at path " + resourcePath);
                 libraryLoaded = false;
-                return;
+                return false;
             }
 
             // It's important that we don't mangle the names of these files on Windows at least
@@ -71,6 +71,7 @@ public static synchronized void forceLoad() throws IOException {
             // logger.error(System.getProperty("java.library.path"));
         }
         libraryLoaded = true;
+        return libraryLoaded;
     }
 
     public static boolean isSupported() {

photon-server/src/main/java/org/photonvision/Main.java

@@ -223,22 +223,34 @@ public static void main(String[] args) {
 
         try {
             if (Platform.isRaspberryPi()) {
-                LibCameraJNILoader.forceLoad();
+                if (LibCameraJNILoader.forceLoad()) {
+                    logger.info("libcamera-JNI loaded successfully.");
+                } else {
+                    logger.error("Failed to load libcamera-JNI!");
+                }
             }
         } catch (IOException e) {
             logger.error("Failed to load libcamera-JNI!", e);
         }
         try {
             if (Platform.isRK3588()) {
-                RknnDetectorJNI.forceLoad();
+                if (RknnDetectorJNI.forceLoad()) {
+                    logger.info("RKNN-JNI loaded successfully.");
+                } else {
+                    logger.error("Failed to load RKNN-JNI!");
+                }
             } else {
                 logger.error("Platform does not support RKNN based machine learning!");
             }
         } catch (IOException e) {
             logger.error("Failed to load rknn-JNI!", e);
         }
         try {
-            MrCalJNILoader.forceLoad();
+            if (MrCalJNILoader.forceLoad()) {
+                logger.info("mrcal-JNI loaded successfully.");
+            } else {
+                logger.error("Failed to load mrcal-JNI!");
+            }
         } catch (IOException e) {
             logger.warn(
                     "Failed to load mrcal-JNI! Camera calibration will fall back to opencv\n"