Default to non static library loading for JNI

apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java

@@ -18,8 +18,8 @@ public class AprilTagJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
@@ -55,6 +55,19 @@ private Helper() {}
     }
   }
 
+  /**
+   * Force load the library.
+   *
+   * @throws IOException if library load failed
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    RuntimeLoader.loadLibrary("apriltagjni");
+    libraryLoaded = true;
+  }
+
   /**
    * Constructs an AprilTag detector engine.
    *

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagJniTestExtension.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.util.WPIUtilJNI;
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class AprilTagJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(AprilTagJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "April Tag Initialized",
+            key -> {
+                initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      AprilTagJNI.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}

apriltag/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension

@@ -0,0 +1 @@
+edu.wpi.first.apriltag.AprilTagJniTestExtension

cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java

@@ -16,8 +16,8 @@ public class CameraServerJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.

cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java

@@ -16,7 +16,7 @@ public final class OpenCvLoader {
 
   /** Sets whether JNI should be loaded in the static block. */
   public static final class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.

cscore/src/test/java/edu/wpi/first/cscore/CameraServerJniTestExtension.java

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.cscore;
+
+import edu.wpi.first.util.WPIUtilJNI;
+
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class CameraServerJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(CameraServerJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "CsCore Initialized",
+            key -> {
+              initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      CameraServerJNI.forceLoad();
+      OpenCvLoader.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}

cscore/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension

@@ -0,0 +1 @@
+edu.wpi.first.cscore.CameraServerJniTestExtension

hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java

@@ -13,8 +13,8 @@ public class JNIWrapper {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.

hal/src/test/java/edu/wpi/first/hal/HalJniTestExtension.java

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal;
+
+import edu.wpi.first.util.WPIUtilJNI;
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class HalJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(HalJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "HAL Initialized",
+            key -> {
+              initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      JNIWrapper.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}

hal/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension

@@ -0,0 +1 @@
+edu.wpi.first.hal.HalJniTestExtension

ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja

@@ -19,8 +19,8 @@ public final class NetworkTablesJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.

ntcore/src/test/java/edu/wpi/first/networktables/NetworkTablesJniTestExtension.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.networktables;
+
+import edu.wpi.first.util.WPIUtilJNI;
+
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class NetworkTablesJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(NetworkTablesJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "Ntcore Initialized",
+            key -> {
+                initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      NetworkTablesJNI.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}

ntcore/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension

@@ -0,0 +1 @@
+edu.wpi.first.networktables.NetworkTablesJniTestExtension

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java

@@ -4,8 +4,9 @@
 
 package edu.wpi.first.wpilibj2;
 
-import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+
 import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
@@ -29,7 +30,8 @@ public void beforeAll(ExtensionContext context) {
   }
 
   private void initializeHardware() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     DriverStationSim.setDsAttached(true);
     DriverStationSim.setAutonomous(false);
     DriverStationSim.setEnabled(true);

wpilibj/CMakeLists.txt

@@ -38,8 +38,10 @@ if(WITH_JAVA)
             ${OPENCV_JAR_FILE}
             cscore_jar
             cameraserver_jar
+            apriltag_jar
             wpimath_jar
             wpiunits_jar
+            wpinet_jar
             wpiutil_jar
         OUTPUT_NAME wpilibj
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}

wpilibj/build.gradle

@@ -70,6 +70,7 @@ dependencies {
     implementation project(':ntcore')
     implementation project(':cscore')
     implementation project(':cameraserver')
+    implementation project(':apriltag')
     testImplementation 'org.mockito:mockito-core:4.1.0'
     devImplementation sourceSets.main.output
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -4,17 +4,24 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.cameraserver.CameraServerShared;
 import edu.wpi.first.cameraserver.CameraServerSharedStore;
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.cscore.OpenCvLoader;
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.HALUtil;
+import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.MathShared;
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
+import edu.wpi.first.math.jni.WPIMathJNI;
+import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.MultiSubscriber;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -390,14 +397,58 @@ public static void suppressExitWarning(boolean value) {
     m_runMutex.unlock();
   }
 
+  /**
+   * Loads base native libraries needed by WPILib in all robot projects.
+   *
+   * @throws IOException If any library was not found
+   */
+  public static void loadBaseNativeLibraries() throws IOException {
+    WPIUtilJNI.forceLoad();
+    WPINetJNI.forceLoad();
+    WPIMathJNI.forceLoad();
+    JNIWrapper.forceLoad();
+    NetworkTablesJNI.forceLoad();
+  }
+
+  /**
+   * Sets the static load behavior for all of the vision libraries
+   *
+   * @param loadOnStaticInitialization true to load on static initialization, false to disable (default)
+   */
+  public static void setVisionNativeLibrariesStaticLoadBehavior(boolean loadOnStaticInitialization) {
+    CameraServerJNI.Helper.setExtractOnStaticLoad(true);
+    OpenCvLoader.Helper.setExtractOnStaticLoad(true);
+    AprilTagJNI.Helper.setExtractOnStaticLoad(true);
+  }
+
+  /**
+   * Configure all native libraries to match how a robot program works.
+   *
+   * <p>This will load all the base JNI libraries, set the vision libaries
+   * to load on static initialization, and initialize the HAL.
+   *
+   * @return HAL initialization result, true for success.
+   */
+  public static boolean loadLibrariesAndInitializeHal() {
+    try {
+      loadBaseNativeLibraries();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+
+    setVisionNativeLibrariesStaticLoadBehavior(true);
+
+    return HAL.initialize(500, 0);
+  }
+
   /**
    * Starting point for the applications.
    *
    * @param <T> Robot subclass.
    * @param robotSupplier Function that returns an instance of the robot subclass.
    */
   public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier) {
-    if (!HAL.initialize(500, 0)) {
+    if (!loadLibrariesAndInitializeHal()) {
       throw new IllegalStateException("Failed to initialize. Terminating");
     }