Initial Commit

src/main/driver/cpp/VendorJNI.cpp

@@ -0,0 +1,22 @@
+#include "jni.h"
+#include "com_vendor_jni_VendorJNI.h"
+
+JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
+    // Check to ensure the JNI version is valid
+
+    JNIEnv* env;
+    if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+        return JNI_ERR;
+
+    // In here is also where you store things like class references
+    // if they are ever needed
+
+    return JNI_VERSION_1_6;
+}
+
+JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {}
+
+JNIEXPORT jint JNICALL Java_com_vendor_jni_VendorJNI_initialize
+  (JNIEnv *, jclass) {
+  return 0;
+}

src/main/driver/cpp/driversource.cpp

@@ -0,0 +1,7 @@
+#include "driverheader.h"
+
+extern "C" {
+void c_doThing() {
+
+}
+}

src/main/driver/include/driverheader.h

@@ -0,0 +1,5 @@
+#pragma once
+
+extern "C" {
+void c_doThing();
+}

src/main/driver/symbols.txt

@@ -0,0 +1,4 @@
+JNI_OnLoad
+JNI_OnUnload
+Java_com_vendor_jni_VendorJNI_initialize
+c_doThing

src/main/java/com/vendor/jni/VendorJNI.java

@@ -0,0 +1,51 @@
+package com.vendor.jni;
+
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import edu.wpi.first.wpiutil.RuntimeLoader;
+
+public class VendorJNI {
+  static boolean libraryLoaded = false;
+  static RuntimeLoader<VendorJNI> loader = null;
+
+  public static class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+  }
+
+  static {
+    if (Helper.getExtractOnStaticLoad()) {
+      try {
+        loader = new RuntimeLoader<>("Vendor", RuntimeLoader.getDefaultExtractionRoot(), VendorJNI.class);
+        loader.loadLibrary();
+      } catch (IOException ex) {
+        ex.printStackTrace();
+        System.exit(1);
+      }
+      libraryLoaded = true;
+    }
+  }
+
+  /**
+   * Force load the library.
+   * @throws java.io.IOException thrown if the native library cannot be found
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    loader = new RuntimeLoader<>("VendorJNI", RuntimeLoader.getDefaultExtractionRoot(), VendorJNI.class);
+    loader.loadLibrary();
+    libraryLoaded = true;
+  }
+
+  public static native int initialize();
+}

src/main/native/cpp/source.cpp

@@ -0,0 +1,6 @@
+#include "header.h"
+#include "driverheader.h"
+
+void func() {
+  c_doThing();
+}