From ad2a54dc0e1c9c8115ec06abd5ab29fe47a75e19 Mon Sep 17 00:00:00 2001
From: Dexton Anderson <danderson@ihmc.org>
Date: Mon, 18 Nov 2024 15:41:53 -0600
Subject: [PATCH] Use separate libraries for x86_64 and arm64

---
 build.gradle.kts                              |  4 +-
 .../ihmc/etherCAT/soemJavaNativeLibrary.java  |  8 +++-
 swig/build.gradle.kts.in                      |  5 ++-
 swig/settings.gradle.kts.in                   | 44 ++++++++-----------
 swig/us/ihmc/soem/generated/CMakeLists.txt    | 27 +++++++++---
 5 files changed, 50 insertions(+), 38 deletions(-)

diff --git a/build.gradle.kts b/build.gradle.kts
index c74dd4d..2a56ee8 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -17,8 +17,8 @@ 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:ihmc-native-library-loader:2.0.3")
    api("us.ihmc:ihmc-realtime:1.6.0")
 }
diff --git a/src/main/java/us/ihmc/etherCAT/soemJavaNativeLibrary.java b/src/main/java/us/ihmc/etherCAT/soemJavaNativeLibrary.java
index a694619..e953f1e 100644
--- a/src/main/java/us/ihmc/etherCAT/soemJavaNativeLibrary.java
+++ b/src/main/java/us/ihmc/etherCAT/soemJavaNativeLibrary.java
@@ -15,9 +15,13 @@ public String getPackage(OperatingSystem os, Architecture arch)
    @Override
    public NativeLibraryWithDependencies getLibraryWithDependencies(OperatingSystem os, Architecture arch)
    {
-      if (os == OperatingSystem.LINUX64)
+      if (os == OperatingSystem.LINUX64 && arch == Architecture.x64)
       {
-         return NativeLibraryWithDependencies.fromFilename("libsoemJava.so");
+         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());
    }
diff --git a/swig/build.gradle.kts.in b/swig/build.gradle.kts.in
index 025dafd..8355f28 100644
--- a/swig/build.gradle.kts.in
+++ b/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")
                         }
                 }
diff --git a/swig/settings.gradle.kts.in b/swig/settings.gradle.kts.in
index c6746c5..c2e61c9 100644
--- a/swig/settings.gradle.kts.in
+++ b/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")
+      {
+         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")
+      }
+   }
 }
diff --git a/swig/us/ihmc/soem/generated/CMakeLists.txt b/swig/us/ihmc/soem/generated/CMakeLists.txt
index bd81139..5f3f72f 100644
--- a/swig/us/ihmc/soem/generated/CMakeLists.txt
+++ b/swig/us/ihmc/soem/generated/CMakeLists.txt
@@ -2,13 +2,26 @@ cmake_minimum_required(VERSION 2.8)
 
 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")
+        set(LIBRARY_NAME "soemJava-x86_64")
+    elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+        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)