Add soemJavaNativeLibrary and support cross compilation for aarch64

build.gradle.kts

@@ -17,8 +17,9 @@ ihmc {
 app.entrypoint("SlaveInfo", "us.ihmc.etherCAT.master.SlaveInfo")
 
 mainDependencies {
-   api("us.ihmc:soem:1.4.0-ihmc1")
-   api("us.ihmc:soem-platform-linux:1.4.0-ihmc1")
+   api("us.ihmc:soem:1.5.0")
+   api("us.ihmc:soem-platform-linux-x86_64:1.5.0")
+   api("us.ihmc:soem-platform-linux-arm64:1.5.0")
    api("us.ihmc:ihmc-native-library-loader:2.0.3")
    api("us.ihmc:ihmc-realtime:1.6.0")
 }

linux-aarch64-toolchain.cmake

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.10)
+
+set(CMAKE_C_COMPILER aarch64-linux-gnu-gcc)
+set(CMAKE_CXX_COMPILER aarch64-linux-gnu-g++)
+set(CMAKE_FIND_ROOT_PATH /usr/aarch64-linux-gnu)
+set(CMAKE_PROGRAM_PATH /usr/aarch64-linux-gnu/bin)
+
+set(ENV{AARCH64_CROSS} "1")

readme.md

@@ -131,14 +131,17 @@ The gradle build files for the SOEM wrapper and native libraries are created by
 
 To build and publish run the following commands. Note that the gradle commands are ran from within the build directory.
 
-
-- cd ihmc-ethercat-master
-- mkdir build
-- cd build
-- cmake -DCMAKE_BUILD_TYPE=Release ..
-- make
-- ../gradlew publishToMavenLocal -Ptarget=JAVA
-- ../gradlew publishToMavenLocal -Ptarget=PLATFORM
+```
+cd ihmc-ethercat-master
+mkdir build
+cd build
+cmake -DCMAKE_BUILD_TYPE=Release ..
+# Cross compile for arm64 using the toolchain
+# cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../linux-aarch64-toolchain.cmake ..
+make
+../gradlew publishToMavenLocal -Ptarget=JAVA
+../gradlew publishToMavenLocal -Ptarget=PLATFORM
+```
 
 Note that if you want to publish multiple platform libraries you only have to run target=JAVA on a single platform
 

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

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;

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)

src/main/java/us/ihmc/etherCAT/soemJavaNativeLibrary.java

@@ -0,0 +1,40 @@
+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 && arch == Architecture.x64)
+      {
+         return NativeLibraryWithDependencies.fromFilename("libsoemJava-x86_64.so");
+      }
+      else if (os == OperatingSystem.LINUX64 && arch == Architecture.arm64)
+      {
+         return NativeLibraryWithDependencies.fromFilename("libsoemJava-arm64.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;
+   }
+}

swig/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.4)
+cmake_minimum_required(VERSION 3.10)
 
 set(CMAKE_POSITION_INDEPENDENT_CODE true)
 

swig/build.gradle.kts.in

@@ -5,7 +5,7 @@ plugins {
 
 ihmc {
    group = "us.ihmc"
-   version = "1.4.0-ihmc1"
+   version = "1.5.0"
    vcsUrl = "https://github.com/ihmcrobotics/ihmc-ethercat-master"
    openSource = true
 
@@ -43,7 +43,8 @@ sourceSets {
                 main {
                         resources{
                             srcDir("swig/")
-                            include("**/libsoemJava.so")
+                            include("**/libsoemJava-x86_64.so")
+                            include("**/libsoemJava-arm64.so")
                             exclude("**/CMakeFiles")
                         }
                 }

swig/settings.gradle.kts.in

@@ -33,29 +33,23 @@ if((target != "JAVA" && target != "PLATFORM"))
 
 else
 {
- if(target == "JAVA")
- {
-    rootProject.name="soem"
- }
- else
- {
-
-    if(OperatingSystem.current().isWindows())
-    {
-            rootProject.name="soem-platform-windows"
-    }
-    else if (OperatingSystem.current().isLinux())
-    {
-            rootProject.name="soem-platform-linux"
-    }
-    else if (OperatingSystem.current().isMacOsX())
-    {
-            rootProject.name="soem-platform-mac"
-    }
-    else
-    {
-            throw GradleException("Current platform is not supported")
-    }
-
- }
+   if (target == "JAVA")
+   {
+      rootProject.name="soem"
+   }
+   else
+   {
+      if (OperatingSystem.current().isLinux() && (System.getProperty("os.arch") == "aarch64" || System.getenv("AARCH64_CROSS") != null))
+      {
+         rootProject.name="soem-platform-linux-arm64"
+      }
+      else if (OperatingSystem.current().isLinux() && System.getProperty("os.arch") == "amd64")
+      {
+         rootProject.name="soem-platform-linux-x86_64"
+      }
+      else
+      {
+         throw GradleException("Current platform is not supported")
+      }
+   }
 }

swig/us/ihmc/soem/generated/CMakeLists.txt

@@ -1,14 +1,29 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.10)
 
 find_package(JNI REQUIRED)
 include_directories(${JNI_INCLUDE_DIRS}) 
-FIND_PACKAGE(SWIG REQUIRED)
-INCLUDE(${SWIG_USE_FILE})
+find_package(SWIG REQUIRED)
+include(${SWIG_USE_FILE})
 
-INCLUDE_DIRECTORIES("${PROJECT_SOURCE_DIR}/swig/")
-INCLUDE_DIRECTORIES("/usr/include/soem")
+include_directories("${PROJECT_SOURCE_DIR}/swig/")
+include_directories("/usr/include/soem")
 
-SET_PROPERTY(SOURCE soem.i PROPERTY SWIG_FLAGS "-package" "us.ihmc.soem.generated")
+set_property(SOURCE soem.i PROPERTY SWIG_FLAGS "-package" "us.ihmc.soem.generated")
 
-SWIG_ADD_MODULE(soemJava java soem.i)
-swig_link_libraries(soemJava ihmcsoemwrapper)
+if(UNIX AND NOT APPLE)
+    if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64" AND NOT DEFINED ENV{AARCH64_CROSS})
+        message(STATUS "Using target platform x86_64")
+        set(LIBRARY_NAME "soemJava-x86_64")
+    elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64" OR DEFINED ENV{AARCH64_CROSS})
+        message(STATUS "Using target platform arm64")
+        set(LIBRARY_NAME "soemJava-arm64")
+    else()
+        message(FATAL_ERROR "Unsupported architecture: ${CMAKE_SYSTEM_PROCESSOR}")
+    endif()
+else()
+    message(FATAL_ERROR "This CMake configuration is only for Linux.")
+endif()
+
+# Add SWIG module with the architecture-specific library name
+swig_add_module(${LIBRARY_NAME} java soem.i)
+swig_link_libraries(${LIBRARY_NAME} ihmcsoemwrapper)