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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)