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[TSP] Move Bind() to Start (#1538)

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Fixes UB with static init. Turns out starting threads in static init doesn't work on windows.
This commit is contained in:
Matt
2024-11-09 14:35:38 -08:00
committed by GitHub
parent d188c37466
commit 14f7155a23
4 changed files with 33 additions and 23 deletions
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30
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
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@@ -60,10 +60,21 @@ inline constexpr std::string_view bfw =
">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
"\n\n";
// bit of a hack -- start a TimeSync server on port 5810 (hard-coded)
static std::mutex g_timeSyncServerMutex;
static bool g_timeSyncServerStarted;
static wpi::tsp::TimeSyncServer timesyncServer{5810};
// bit of a hack -- start a TimeSync server on port 5810 (hard-coded). We want
// to avoid calling this from static initialization
static void InitTspServer() {
// We dont impose requirements about not calling the PhotonCamera constructor
// from different threads, so i guess we need this?
static std::mutex g_timeSyncServerMutex;
static bool g_timeSyncServerStarted{false};
static wpi::tsp::TimeSyncServer timesyncServer{5810};
std::lock_guard lock{g_timeSyncServerMutex};
if (!g_timeSyncServerStarted) {
timesyncServer.Start();
g_timeSyncServerStarted = true;
}
}
namespace photon {
@@ -117,13 +128,10 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
HAL_Report(HALUsageReporting::kResourceType_PhotonCamera, InstanceCount);
InstanceCount++;
{
std::lock_guard lock{g_timeSyncServerMutex};
if (!g_timeSyncServerStarted) {
timesyncServer.Start();
g_timeSyncServerStarted = true;
}
}
// The Robot class is actually created here:
// https://github.com/wpilibsuite/allwpilib/blob/811b1309683e930a1ce69fae818f943ff161b7a5/wpilibc/src/main/native/include/frc/RobotBase.h#L33
// so we should be fine to call this from the ctor
InitTspServer();
}
PhotonCamera::PhotonCamera(const std::string_view cameraName)

17
photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
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@@ -156,17 +156,11 @@ wpi::tsp::TimeSyncClient::TimeSyncClient(std::string_view server,
std::function<uint64_t()> timeProvider)
: m_logger(::ClientLoggerFunc),
m_timeProvider(timeProvider),
m_udp{wpi::uv::Udp::Create(m_loopRunner.GetLoop(), AF_INET)},
m_pingTimer{wpi::uv::Timer::Create(m_loopRunner.GetLoop())},
m_udp{},
m_pingTimer{},
m_serverIP{server},
m_serverPort{remote_port},
m_loopDelay(ping_delay) {
struct sockaddr_in serverAddr;
uv::NameToAddr(m_serverIP, m_serverPort, &serverAddr);
m_loopRunner.ExecSync(
[this, serverAddr](uv::Loop&) { m_udp->Connect(serverAddr); });
// fmt::println("Starting client (with server address {}:{})", server,
// remote_port);
}
@@ -175,6 +169,13 @@ void wpi::tsp::TimeSyncClient::Start() {
// fmt::println("Connecting received");
m_loopRunner.ExecSync([this](uv::Loop&) {
struct sockaddr_in serverAddr;
uv::NameToAddr(m_serverIP, m_serverPort, &serverAddr);
m_udp = {wpi::uv::Udp::Create(m_loopRunner.GetLoop(), AF_INET)};
m_pingTimer = {wpi::uv::Timer::Create(m_loopRunner.GetLoop())};
m_udp->Connect(serverAddr);
m_udp->received.connect(&wpi::tsp::TimeSyncClient::UdpCallback, this);
m_udp->StartRecv();
});

8
photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
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@@ -101,13 +101,13 @@ wpi::tsp::TimeSyncServer::TimeSyncServer(int port,
std::function<uint64_t()> timeProvider)
: m_logger{::ServerLoggerFunc},
m_timeProvider{timeProvider},
m_udp{wpi::uv::Udp::Create(m_loopRunner.GetLoop(), AF_INET)} {
m_loopRunner.ExecSync(
[this, port](uv::Loop&) { m_udp->Bind("0.0.0.0", port); });
}
m_udp{},
m_port(port) {}
void wpi::tsp::TimeSyncServer::Start() {
m_loopRunner.ExecSync([this](uv::Loop&) {
m_udp = {wpi::uv::Udp::Create(m_loopRunner.GetLoop(), AF_INET)};
m_udp->Bind("0.0.0.0", m_port);
m_udp->received.connect(&wpi::tsp::TimeSyncServer::UdpCallback, this);
m_udp->StartRecv();
});

1
photon-targeting/src/main/native/include/net/TimeSyncServer.h
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@@ -53,6 +53,7 @@ class TimeSyncServer {
wpi::Logger m_logger;
std::function<uint64_t()> m_timeProvider;
SharedUdpPtr m_udp;
int m_port;
std::thread m_listener;