Fix some style things, add a better setup for loading from a known library

Author: ThadHouse

src/FRC-Utilities/CachedNativeString.cs

@@ -19,7 +19,7 @@ public unsafe struct CachedNativeString
         /// </summary>
         public UIntPtr Length;
 
-        private string m_string;
+        private readonly string m_string;
 
         internal CachedNativeString(string vStr)
         {

src/FRC-Utilities/FRC-Utilities.csproj

@@ -27,7 +27,7 @@
   <PropertyGroup>
     <TreatWarningsAsErrors>true</TreatWarningsAsErrors>
     <WarningsAsErrors />
-    <Version>3.0.0</Version>
+    <Version>3.0.4</Version>
   </PropertyGroup>
 
   <ItemGroup>

src/FRC-Utilities/ILGeneration/InterfaceGenerator.cs

@@ -21,7 +21,6 @@ public InterfaceGenerator(IFunctionPointerLoader functionPointerLoader, IILGener
 
         public T? GenerateImplementation()
         {
-            Console.WriteLine("Generating Impl");
             AssemblyBuilder asmBuilder = AssemblyBuilder.DefineDynamicAssembly(new AssemblyName(typeof(T).Name + "Asm"), AssemblyBuilderAccess.Run);
             ModuleBuilder moduleBuilder = asmBuilder.DefineDynamicModule(typeof(T).Name + "Module");
             TypeBuilder typeBuilder = moduleBuilder.DefineType("Default" + typeof(T).Name);

src/FRC-Utilities/ManagedString.cs

@@ -24,7 +24,7 @@ public UIntPtr Length
                 return (UIntPtr)(Buffer.Length - 1);
             }
         }
-        private string m_string;
+        private readonly string m_string;
 
         /// <summary>
         /// Constructs a managed UTF8 string from a C# string

src/FRC-Utilities/NativeLibraryUtilities/EmbeddedLibraryLoader.cs

@@ -48,6 +48,7 @@ void ILibraryLoader.UnloadLibrary()
         }
 
         [DllImport("libdl.so.2")]
+#pragma warning disable IDE1006 // Naming Styles
         private static extern IntPtr dlopen(string fileName, int flags);
 
         [DllImport("libdl.so.2")]
@@ -58,5 +59,6 @@ void ILibraryLoader.UnloadLibrary()
 
         [DllImport("libdl.so.2")]
         private static extern int dlclose(IntPtr handle);
+#pragma warning restore IDE1006 // Naming Styles
     }
 }

src/FRC-Utilities/NativeLibraryUtilities/NativeLibraryLoader.cs

@@ -33,6 +33,27 @@ public static bool CheckIsRoboRio()
             return File.Exists("/usr/local/frc/bin/frcRunRobot.sh");
         }
 
+        /// <summary>
+        /// Checks if the current system is Raspbian
+        /// </summary>
+        /// <returns></returns>
+        public static bool CheckIsRaspbian()
+        {
+            try
+            {
+                string text = File.ReadAllText("/etc/os-release");
+                if (text.Contains("ID=raspbian"))
+                {
+                    return true;
+                }
+            }
+            catch
+            {
+
+            }
+            return false;
+        }
+
         /// <summary>
         /// Add a file location to be used when automatically searching for a library to load
         /// </summary>
@@ -117,7 +138,7 @@ public void LoadNativeLibrary<T>(string location, bool directLoad = false, strin
                 case OsType.MacOs64:
                     LibraryLoader = new MacOsLibraryLoader();
                     break;
-                case OsType.LinuxArmhf:
+                case OsType.LinuxAarch64:
                 case OsType.LinuxRaspbian:
                 case OsType.roboRIO:
                     LibraryLoader = new EmbeddedLibraryLoader();
@@ -158,7 +179,7 @@ public void LoadNativeLibrary<T>(bool directLoad = false, string? extractLocatio
                 case OsType.MacOs64:
                     LibraryLoader = new MacOsLibraryLoader();
                     break;
-                case OsType.LinuxArmhf:
+                case OsType.LinuxAarch64:
                 case OsType.LinuxRaspbian:
                 case OsType.roboRIO:
                     LibraryLoader = new EmbeddedLibraryLoader();
@@ -169,11 +190,11 @@ public void LoadNativeLibrary<T>(bool directLoad = false, string? extractLocatio
         }
 
         /// <summary>
-        /// Loads a native library with a reflected assembly holding the native libraries
+        /// Loads a native library with an assembly holding the native libraries
         /// </summary>
-        /// <param name="assemblyName">The name of the assembly to reflect into and load from</param>
+        /// <param name="assembly">The assembly to load from</param>
         /// <param name="localLoadOnRio">True to force a local load on the RoboRIO</param>
-        public void LoadNativeLibraryFromReflectedAssembly(string assemblyName, bool localLoadOnRio = true)
+        public void LoadNativeLibraryFromAssembly(Assembly assembly, bool localLoadOnRio = true)
         {
             if (localLoadOnRio && CheckIsRoboRio())
             {
@@ -185,17 +206,6 @@ public void LoadNativeLibraryFromReflectedAssembly(string assemblyName, bool loc
                 return;
             }
 
-            AssemblyName name = new AssemblyName(assemblyName);
-            Assembly asm;
-            try
-            {
-                asm = Assembly.Load(name);
-            }
-            catch (Exception e)
-            {
-                throw new InvalidOperationException($"Failed to load desktop libraries. Please ensure that the {assemblyName} is installed and referenced by your project", e);
-            }
-
             if (OsType == OsType.None)
                 throw new InvalidOperationException(
                     "OS type is unknown. Must use the overload to manually load the file");
@@ -217,7 +227,7 @@ public void LoadNativeLibraryFromReflectedAssembly(string assemblyName, bool loc
                 case OsType.MacOs64:
                     LibraryLoader = new MacOsLibraryLoader();
                     break;
-                case OsType.LinuxArmhf:
+                case OsType.LinuxAarch64:
                 case OsType.LinuxRaspbian:
                 case OsType.roboRIO:
                     LibraryLoader = new EmbeddedLibraryLoader();
@@ -230,11 +240,42 @@ public void LoadNativeLibraryFromReflectedAssembly(string assemblyName, bool loc
             string extractLocation = Path.GetTempFileName();
             UsingTempFile = true;
 
-            ExtractNativeLibrary(m_nativeLibraryName[OsType], extractLocation, asm);
+            ExtractNativeLibrary(m_nativeLibraryName[OsType], extractLocation, assembly);
             LibraryLoader.LoadLibrary(extractLocation);
             LibraryLocation = extractLocation;
         }
 
+        /// <summary>
+        /// Loads a native library with a reflected assembly holding the native libraries
+        /// </summary>
+        /// <param name="assemblyName">The name of the assembly to reflect into and load from</param>
+        /// <param name="localLoadOnRio">True to force a local load on the RoboRIO</param>
+        public void LoadNativeLibraryFromReflectedAssembly(string assemblyName, bool localLoadOnRio = true)
+        {
+            if (localLoadOnRio && CheckIsRoboRio())
+            {
+                ILibraryLoader loader = new EmbeddedLibraryLoader();
+                LibraryLoader = loader;
+                var location = m_nativeLibraryName[OsType.roboRIO];
+                loader.LoadLibrary(location);
+                LibraryLocation = location;
+                return;
+            }
+
+            AssemblyName name = new AssemblyName(assemblyName);
+            Assembly asm;
+            try
+            {
+                asm = Assembly.Load(name);
+            }
+            catch (Exception e)
+            {
+                throw new InvalidOperationException($"Failed to load desktop libraries. Please ensure that the {assemblyName} is installed and referenced by your project", e);
+            }
+
+            LoadNativeLibraryFromAssembly(asm, localLoadOnRio);
+        }
+
         /// <summary>
         /// Load a native interface
         /// </summary>
@@ -256,26 +297,16 @@ public void LoadNativeLibraryFromReflectedAssembly(string assemblyName, bool loc
 
         private void ExtractNativeLibrary(string resourceLocation, string extractLocation, Assembly asm)
         {
-            byte[] bytes;
-            //Load our resource file into memory
-            using (Stream s = asm.GetManifestResourceStream(resourceLocation))
-            {
-                if (s == null || s.Length == 0)
-                    throw new InvalidOperationException("File to extract cannot be null or empty");
-                bytes = new byte[(int)s.Length];
-                s.Read(bytes, 0, (int)s.Length);
-            }
-            File.WriteAllBytes(extractLocation, bytes);
-            GC.Collect();
+            using Stream s = asm.GetManifestResourceStream(resourceLocation);
+            if (s == null || s.Length == 0)
+                throw new InvalidOperationException($"File {resourceLocation} was not found in Assembly {asm.GetName()}");
+            using Stream outputStream = new FileStream(extractLocation, FileMode.Create);
+            s.CopyTo(outputStream);
         }
 
         private void ExtractNativeLibrary(string resourceLocation, string extractLocation, Type type)
         {
-#if !NETSTANDARD
-            ExtractNativeLibrary(resourceLocation, extractLocation, type.Assembly);
-#else
             ExtractNativeLibrary(resourceLocation, extractLocation, type.GetTypeInfo().Assembly);
-#endif
         }
 
         private static bool Is64BitOs()
@@ -285,11 +316,7 @@ private static bool Is64BitOs()
 
         private static bool IsWindows()
         {
-#if NETSTANDARD
             return RuntimeInformation.IsOSPlatform(OSPlatform.Windows);
-#else
-            return Path.DirectorySeparatorChar == '\\';
-#endif
         }
 
         /// <summary>
@@ -308,9 +335,17 @@ public static OsType GetOsType()
                 {
                     return OsType.roboRIO;
                 }
-#if NETSTANDARD
-                if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
+                else if (CheckIsRaspbian())
                 {
+                    return OsType.LinuxRaspbian;
+                }
+                // else if (CheckIsAarch64())
+                // {
+                //     return OsType.LinuxAarch64;
+                // }
+                else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
+                {
+                    
                     if (Is64BitOs()) return OsType.Linux64;
                     else return OsType.Linux32;
                 }
@@ -323,60 +358,6 @@ public static OsType GetOsType()
                 {
                     return OsType.None;
                 }
-#else
-                Utsname uname;
-                try
-                {
-                    Uname.uname(out uname);
-                }
-                catch (Exception e)
-                {
-                    Console.WriteLine(e);
-                    return OsType.None;
-                }
-
-                bool mac = uname.sysname == "Darwin";
-                bool armv7 = uname.machine.ToLower().Contains("armv7");
-                bool armv6 = uname.machine.ToLower().Contains("armv6");
-
-                if (armv7)
-                {
-                    try
-                    {
-                        string text = File.ReadAllText("/etc/os-release");
-                        if (text.Contains("ID=raspbian"))
-                        {
-                            return OsType.LinuxRaspbian;
-                        }
-                        else
-                        {
-                            return OsType.LinuxArmhf;
-                        }
-                    }
-                    catch
-                    {
-                        return OsType.LinuxArmhf;
-                    }
-                }
-                if (armv6)
-                {
-                    throw new PlatformNotSupportedException("Arm v6 Devices (most likely a Pi 1 or a Pi Zero) are not supported");
-                }
-
-                //Check for Bitness
-                if (Is64BitOs())
-                {
-                    //We are 64 bit.
-                    if (mac) return OsType.MacOs64;
-                    return OsType.Linux64;
-                }
-                else
-                {
-                    //We are 64 32 bit process.
-                    if (mac) return OsType.MacOs32;
-                    return OsType.Linux32;
-                }
-#endif
             }
         }
     }

src/FRC-Utilities/NativeLibraryUtilities/OsType.cs

@@ -41,7 +41,7 @@ public enum OsType
         /// <summary>
         /// Linux Arm Hard Float (Not Raspbian)
         /// </summary>
-        LinuxArmhf,
+        LinuxAarch64,
         /// <summary>
         /// Linux Raspbian
         /// </summary>

src/FRC-Utilities/NativeLibraryUtilities/Uname.cs

@@ -66,7 +66,9 @@ public override string ToString()
     }
 
     [StructLayout(LayoutKind.Sequential)]
+#pragma warning disable IDE1006 // Naming Styles
     internal struct _Utsname
+#pragma warning restore IDE1006 // Naming Styles
     {
         public IntPtr sysname;
         public IntPtr nodename;
@@ -101,6 +103,7 @@ private static void CopyUtsname(out Utsname to, ref _Utsname from)
 
         internal const string MPH = "MonoPosixHelper";
         internal const string LIBC = "libc";
+#pragma warning disable IDE1006 // Naming Styles
 
         [DllImport(LIBC, CallingConvention = CallingConvention.Cdecl)]
         public static extern void free(IntPtr ptr);
@@ -109,10 +112,11 @@ private static void CopyUtsname(out Utsname to, ref _Utsname from)
              EntryPoint = "Mono_Posix_Syscall_uname")]
         private static extern int sys_uname(out _Utsname buf);
 
+
         public static int uname(out Utsname? buf)
+#pragma warning restore IDE1006 // Naming Styles
         {
-            _Utsname _buf;
-            int r = sys_uname(out _buf);
+            int r = sys_uname(out _Utsname _buf);
             buf = null;
             if (r == 0)
             {

src/FRC-Utilities/UTF8String.cs

@@ -12,7 +12,7 @@ public static class UTF8String
     {
         private static readonly ConcurrentDictionary<string, CachedNativeString> s_stringCache = new ConcurrentDictionary<string, CachedNativeString>();
 
-        private static Func<string, CachedNativeString> CacheCreateFunc = (s) => new CachedNativeString(s);
+        private static readonly Func<string, CachedNativeString> CacheCreateFunc = (s) => new CachedNativeString(s);
 
         /// <summary>
         /// Creates a UTF8 string that will be cached, using the already cached string is already created

test/FRC-Utilities.Test/ILGeneration/InterfaceGeneratorTest.cs

@@ -17,7 +17,7 @@ public interface I1Func
 
         private class MockFPLoader : IFunctionPointerLoader
         {
-            private Dictionary<string, (Delegate, IntPtr)> fpMap = new Dictionary<string, (Delegate, IntPtr)>();
+            private readonly Dictionary<string, (Delegate, IntPtr)> fpMap = new Dictionary<string, (Delegate, IntPtr)>();
 
             public void AddDelegate<T>(string name, T del) where T : Delegate
             {