Add soemJavaNativeLibrary

ihmcrobotics · Nov 14, 2024 · 09c7709 · 09c7709
1 parent 261a374
commit 09c7709
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Showing 4 changed files with 51 additions and 15 deletions.
diff --git a/src/main/java/us/ihmc/etherCAT/master/FoEBootstrap.java b/src/main/java/us/ihmc/etherCAT/master/FoEBootstrap.java
@@ -1,18 +1,18 @@
 package us.ihmc.etherCAT.master;
 
-import java.io.IOException;
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.util.HashMap;
-
 import us.ihmc.etherCAT.master.Mailbox.MailboxConfiguration;
+import us.ihmc.etherCAT.soemJavaNativeLibrary;
 import us.ihmc.soem.generated.ec_err_type;
 import us.ihmc.soem.generated.ec_slavet;
 import us.ihmc.soem.generated.ec_state;
 import us.ihmc.soem.generated.ecx_context;
 import us.ihmc.soem.generated.soem;
 import us.ihmc.soem.generated.soemConstants;
-import us.ihmc.tools.nativelibraries.NativeLibraryLoader;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.util.HashMap;
 
 /**
  * Standalone implementation for File over EtherCAT in BOOT mode
@@ -24,7 +24,7 @@ public class FoEBootstrap
 {
    static
    {
-      NativeLibraryLoader.loadLibrary("us.ihmc.soem.generated", "soemJava");
+      soemJavaNativeLibrary.load();
    }
 
    private class SlaveConfig

diff --git a/src/main/java/us/ihmc/etherCAT/master/Master.java b/src/main/java/us/ihmc/etherCAT/master/Master.java
@@ -3,14 +3,14 @@
 import us.ihmc.etherCAT.master.EtherCATStatusCallback.TRACE_EVENT;
 import us.ihmc.etherCAT.master.exception.SlavesNotConfiguredException;
 import us.ihmc.etherCAT.master.exception.SlavesOfflineException;
+import us.ihmc.etherCAT.soemJavaNativeLibrary;
 import us.ihmc.soem.generated.ec_slavet;
 import us.ihmc.soem.generated.ec_smt;
 import us.ihmc.soem.generated.ec_state;
 import us.ihmc.soem.generated.ecx_context;
 import us.ihmc.soem.generated.ecx_portt;
 import us.ihmc.soem.generated.soem;
 import us.ihmc.soem.generated.soemConstants;
-import us.ihmc.tools.nativelibraries.NativeLibraryLoader;
 
 import java.io.IOException;
 import java.nio.ByteBuffer;
@@ -38,7 +38,7 @@ public class Master implements MasterInterface
 
    static
    {
-      NativeLibraryLoader.loadLibrary("us.ihmc.soem.generated", "soemJava");
+      soemJavaNativeLibrary.load();
    }
 
    private static boolean initialized = false;

diff --git a/src/main/java/us/ihmc/etherCAT/master/SlaveInfo.java b/src/main/java/us/ihmc/etherCAT/master/SlaveInfo.java
@@ -1,15 +1,15 @@
 package us.ihmc.etherCAT.master;
 
-import java.io.IOException;
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-
+import us.ihmc.etherCAT.soemJavaNativeLibrary;
 import us.ihmc.soem.generated.ec_slavet;
 import us.ihmc.soem.generated.ec_smt;
 import us.ihmc.soem.generated.ecx_context;
 import us.ihmc.soem.generated.soem;
 import us.ihmc.soem.generated.soemConstants;
-import us.ihmc.tools.nativelibraries.NativeLibraryLoader;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
 /**
  * Simple application to print basic information about the detected slave configuration
@@ -24,7 +24,7 @@ public class SlaveInfo
 
    static
    {
-      NativeLibraryLoader.loadLibrary("us.ihmc.soem.generated", "soemJava");
+      soemJavaNativeLibrary.load();
    }
 
    public static String hex(long n)

diff --git a/src/main/java/us/ihmc/etherCAT/soemJavaNativeLibrary.java b/src/main/java/us/ihmc/etherCAT/soemJavaNativeLibrary.java
@@ -0,0 +1,36 @@
+package us.ihmc.etherCAT;
+
+import us.ihmc.tools.nativelibraries.NativeLibraryDescription;
+import us.ihmc.tools.nativelibraries.NativeLibraryLoader;
+import us.ihmc.tools.nativelibraries.NativeLibraryWithDependencies;
+
+public class soemJavaNativeLibrary implements NativeLibraryDescription
+{
+   @Override
+   public String getPackage(OperatingSystem os, Architecture arch)
+   {
+      return "us.ihmc.soem.generated";
+   }
+
+   @Override
+   public NativeLibraryWithDependencies getLibraryWithDependencies(OperatingSystem os, Architecture arch)
+   {
+      if (os == OperatingSystem.LINUX64)
+      {
+         return NativeLibraryWithDependencies.fromFilename("libsoemJava.so");
+      }
+      throw new RuntimeException("Unsupported platform: " + os.name() + "-" + arch.name());
+   }
+
+   private static boolean loaded = false;
+
+   public static boolean load()
+   {
+      if (!loaded)
+      {
+         soemJavaNativeLibrary lib = new soemJavaNativeLibrary();
+         loaded = NativeLibraryLoader.loadLibrary(lib);
+      }
+      return loaded;
+   }
+}