fix java jni and bazel

wpilibsuite · Jan 26, 2025 · 27f63bd · 27f63bd
1 parent bc25c2e
commit 27f63bd
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Showing 5 changed files with 70 additions and 16 deletions.
diff --git a/libdatalog/BUILD.bazel b/libdatalog/BUILD.bazel
@@ -1,5 +1,4 @@
 load("@rules_cc//cc:defs.bzl", "cc_library")
-load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 
 cc_library(
     name = "libdatalog.static",
@@ -15,5 +14,5 @@ cc_library(
     visibility = ["//visibility:public"],
     deps = [
         "//wpiutil:wpiutil.static",
-    ]
+    ],
 )
diff --git a/libdatalog/src/main/java/edu/wpi/first/datalog/DataLogJNI.java b/libdatalog/src/main/java/edu/wpi/first/datalog/DataLogJNI.java
@@ -4,16 +4,71 @@
 
 package edu.wpi.first.datalog;
 
-import edu.wpi.first.util.WPIUtilJNI;
 import java.io.IOException;
 import java.nio.ByteBuffer;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import edu.wpi.first.util.RuntimeLoader;
 
 /**
  * DataLog wpiutil JNI Functions.
  *
  * @see "wpiutil/DataLog.h"
  */
-public class DataLogJNI extends WPIUtilJNI {
+public class DataLogJNI {
+  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);
+
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+
+    /** Utility class. */
+    private Helper() {}
+  }
+
+  static {
+    if (Helper.getExtractOnStaticLoad()) {
+      try {
+        RuntimeLoader.loadLibrary("datalogjni");
+      } catch (Exception ex) {
+        ex.printStackTrace();
+        System.exit(1);
+      }
+      libraryLoaded = true;
+    }
+  }
+
+  /**
+   * Force load the library.
+   *
+   * @throws IOException if the library failed to load
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    RuntimeLoader.loadLibrary("datalogjni");
+    libraryLoaded = true;
+  }
+
   /**
    * Create a new Data Log background writer. The log will be initially created with a temporary
    * filename.

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
@@ -4,17 +4,17 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.datalog.DataLog;
+import edu.wpi.first.datalog.DataLogBackgroundWriter;
+import edu.wpi.first.datalog.FileLogger;
+import edu.wpi.first.datalog.IntegerLogEntry;
+import edu.wpi.first.datalog.StringLogEntry;
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.datalog.FileLogger;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.util.concurrent.Event;
-import edu.wpi.first.datalog.DataLog;
-import edu.wpi.first.datalog.DataLogBackgroundWriter;
-import edu.wpi.first.datalog.IntegerLogEntry;
-import edu.wpi.first.datalog.StringLogEntry;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Files;

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -4,6 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.datalog.BooleanArrayLogEntry;
+import edu.wpi.first.datalog.BooleanLogEntry;
+import edu.wpi.first.datalog.DataLog;
+import edu.wpi.first.datalog.FloatArrayLogEntry;
+import edu.wpi.first.datalog.IntegerArrayLogEntry;
 import edu.wpi.first.hal.AllianceStationID;
 import edu.wpi.first.hal.ControlWord;
 import edu.wpi.first.hal.DriverStationJNI;
@@ -16,11 +21,6 @@
 import edu.wpi.first.networktables.StringTopic;
 import edu.wpi.first.util.EventVector;
 import edu.wpi.first.util.WPIUtilJNI;
-import edu.wpi.first.datalog.BooleanArrayLogEntry;
-import edu.wpi.first.datalog.BooleanLogEntry;
-import edu.wpi.first.datalog.DataLog;
-import edu.wpi.first.datalog.FloatArrayLogEntry;
-import edu.wpi.first.datalog.IntegerArrayLogEntry;
 import java.nio.ByteBuffer;
 import java.util.Map;
 import java.util.Optional;

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
@@ -12,6 +12,8 @@
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Volts;
 
+import edu.wpi.first.datalog.DoubleLogEntry;
+import edu.wpi.first.datalog.StringLogEntry;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.measure.AngularVelocity;
@@ -20,8 +22,6 @@
 import edu.wpi.first.units.measure.LinearAcceleration;
 import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.units.measure.Voltage;
-import edu.wpi.first.datalog.DoubleLogEntry;
-import edu.wpi.first.datalog.StringLogEntry;
 import edu.wpi.first.wpilibj.DataLogManager;
 import java.util.HashMap;
 import java.util.Map;