Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-21 01:01:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Assert that version checking won't throw on startup (#1512)

Browse Source 
# Overview

Previously if the coproc came up later, getProperty would return the
string literal "null", which made us print the BFW. Add tests to make
sure that we don't do that anymore by rebooting a sim coproc +
robot in a combination of different orders.
This commit is contained in:
Matt
2024-11-01 20:50:21 -07:00
committed by GitHub
parent 5e1a93950e
commit 7a4ea3dd56
13 changed files with 305 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View File

@@ -32,9 +32,7 @@ import edu.wpi.first.math.Nat;
import edu.wpi.first.math.numbers.*;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.DoubleArrayPublisher;
import edu.wpi.first.networktables.DoubleArraySubscriber;
import edu.wpi.first.networktables.DoublePublisher;
import edu.wpi.first.networktables.IntegerEntry;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerSubscriber;
@@ -64,13 +62,6 @@ public class PhotonCamera implements AutoCloseable {
PacketSubscriber<PhotonPipelineResult> resultSubscriber;
BooleanPublisher driverModePublisher;
BooleanSubscriber driverModeSubscriber;
DoublePublisher latencyMillisEntry;
BooleanPublisher hasTargetEntry;
DoublePublisher targetPitchEntry;
DoublePublisher targetYawEntry;
DoublePublisher targetAreaEntry;
DoubleArrayPublisher targetPoseEntry;
DoublePublisher targetSkewEntry;
StringSubscriber versionEntry;
IntegerEntry inputSaveImgEntry, outputSaveImgEntry;
IntegerPublisher pipelineIndexRequest, ledModeRequest;
@@ -86,13 +77,6 @@ public class PhotonCamera implements AutoCloseable {
resultSubscriber.close();
driverModePublisher.close();
driverModeSubscriber.close();
latencyMillisEntry.close();
hasTargetEntry.close();
targetPitchEntry.close();
targetYawEntry.close();
targetAreaEntry.close();
targetPoseEntry.close();
targetSkewEntry.close();
versionEntry.close();
inputSaveImgEntry.close();
outputSaveImgEntry.close();
@@ -111,13 +95,13 @@ public class PhotonCamera implements AutoCloseable {
private static boolean VERSION_CHECK_ENABLED = true;
private static long VERSION_CHECK_INTERVAL = 5;
private double lastVersionCheckTime = 0;
double lastVersionCheckTime = 0;
private long prevHeartbeatValue = -1;
private double prevHeartbeatChangeTime = 0;
private static final double HEARTBEAT_DEBOUNCE_SEC = 0.5;
private double prevTimeSyncWarnTime = 0;
double prevTimeSyncWarnTime = 0;
private static final double WARN_DEBOUNCE_SEC = 5;
public static void setVersionCheckEnabled(boolean enabled) {
@@ -396,7 +380,7 @@ public class PhotonCamera implements AutoCloseable {
return cameraTable;
}
private void verifyVersion() {
void verifyVersion() {
if (!VERSION_CHECK_ENABLED) return;
if ((Timer.getFPGATimestamp() - lastVersionCheckTime) < VERSION_CHECK_INTERVAL) return;
@@ -433,7 +417,7 @@ public class PhotonCamera implements AutoCloseable {
// Check for connection status. Warn if disconnected.
else if (!isConnected()) {
DriverStation.reportWarning(
"PhotonVision coprocessor at path " + path + " is not sending new data.", true);
"PhotonVision coprocessor at path " + path + " is not sending new data.", false);
}
String versionString = versionEntry.get("");
@@ -448,7 +432,7 @@ public class PhotonCamera implements AutoCloseable {
"PhotonVision coprocessor at path "
+ path
+ " has not reported a message interface UUID - is your coprocessor's camera started?",
true);
false);
} else if (!local_uuid.equals(remote_uuid)) {
// Error on a verified version mismatch
// But stay silent otherwise

2
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
View File

@@ -68,7 +68,7 @@ import org.photonvision.targeting.PnpResult;
public class PhotonCameraSim implements AutoCloseable {
private final PhotonCamera cam;
NTTopicSet ts = new NTTopicSet();
protected NTTopicSet ts = new NTTopicSet();
private long heartbeatCounter = 1;
/** This simulated camera's {@link SimCameraProperties} */

138
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
View File

@@ -24,17 +24,30 @@
package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.photonvision.UnitTestUtils.waitForCondition;
import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.wpilibj.Timer;
import java.io.IOException;
import java.util.stream.Stream;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.jni.PhotonTargetingJniLoader;
import org.photonvision.jni.TimeSyncClient;
import org.photonvision.jni.WpilibLoader;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.targeting.PhotonPipelineResult;
class PhotonCameraTest {
@@ -43,6 +56,16 @@ class PhotonCameraTest {
WpilibLoader.loadLibraries();
}
@BeforeEach
public void setup() {
HAL.initialize(500, 0);
}
@AfterEach
public void teardown() {
HAL.shutdown();
}
@Test
public void testEmpty() {
Assertions.assertDoesNotThrow(
@@ -92,4 +115,119 @@ class PhotonCameraTest {
HAL.shutdown();
}
private static Stream<Arguments> testNtOffsets() {
return Stream.of(
// various initializaiton orders
Arguments.of(1, 10, 30, 30),
Arguments.of(10, 2, 30, 30),
Arguments.of(10, 10, 30, 30),
// Reboot just the robot
Arguments.of(1, 1, 10, 30),
// Reboot just the coproc
Arguments.of(1, 1, 30, 10));
}
/**
* Try starting client before server and vice-versa, making sure that we never fail the version
* check
*/
@ParameterizedTest
@MethodSource("testNtOffsets")
public void testRestartingRobotAndCoproc(
int robotStart, int coprocStart, int robotRestart, int coprocRestart) throws Throwable {
var robotNt = NetworkTableInstance.create();
var coprocNt = NetworkTableInstance.create();
robotNt.addLogger(10, 255, (it) -> System.out.println("ROBOT: " + it.logMessage.message));
coprocNt.addLogger(10, 255, (it) -> System.out.println("CLIENT: " + it.logMessage.message));
TimeSyncClient tspClient = null;
var robotCamera = new PhotonCamera(robotNt, "MY_CAMERA");
// apparently need a PhotonCamera to hand down
var fakePhotonCoprocCam = new PhotonCamera(coprocNt, "MY_CAMERA");
var coprocSim = new PhotonCameraSim(fakePhotonCoprocCam);
coprocSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(90));
coprocSim.prop.setFPS(30);
coprocSim.setMinTargetAreaPixels(20.0);
for (int i = 0; i < 20; i++) {
int seq = i + 1;
if (i == coprocRestart) {
System.out.println("Restarting coprocessor NT client");
fakePhotonCoprocCam.close();
coprocNt.close();
coprocNt = NetworkTableInstance.create();
coprocNt.addLogger(10, 255, (it) -> System.out.println("CLIENT: " + it.logMessage.message));
fakePhotonCoprocCam = new PhotonCamera(coprocNt, "MY_CAMERA");
coprocSim = new PhotonCameraSim(fakePhotonCoprocCam);
coprocSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(90));
coprocSim.prop.setFPS(30);
coprocSim.setMinTargetAreaPixels(20.0);
}
if (i == robotRestart) {
System.out.println("Restarting robot NT server");
robotNt.close();
robotNt = NetworkTableInstance.create();
robotNt.addLogger(10, 255, (it) -> System.out.println("ROBOT: " + it.logMessage.message));
robotCamera = new PhotonCamera(robotNt, "MY_CAMERA");
}
if (i == coprocStart || i == coprocRestart) {
coprocNt.setServer("127.0.0.1", 5940);
coprocNt.startClient4("testClient");
// PhotonCamera makes a server by default - connect to it
tspClient = new TimeSyncClient("127.0.0.1", 5810, 0.5);
}
if (i == robotStart || i == robotRestart) {
robotNt.startServer("networktables_random.json", "", 5941, 5940);
}
Thread.sleep(100);
if (i == Math.max(coprocStart, robotStart)) {
final var c = coprocNt;
final var r = robotNt;
waitForCondition("Coproc connection", () -> c.getConnections().length == 1);
waitForCondition("Rio connection", () -> r.getConnections().length == 1);
}
var result1 = new PhotonPipelineResult();
result1.metadata.captureTimestampMicros = seq * 100;
result1.metadata.publishTimestampMicros = seq * 150;
result1.metadata.sequenceID = seq;
if (tspClient != null) {
result1.metadata.timeSinceLastPong = tspClient.getPingMetadata().timeSinceLastPong();
} else {
result1.metadata.timeSinceLastPong = Long.MAX_VALUE;
}
coprocSim.submitProcessedFrame(result1, NetworkTablesJNI.now());
coprocNt.flush();
if (i > robotStart && i > coprocStart) {
var ret = waitForSequenceNumber(robotCamera, seq);
System.out.println(ret);
}
// force verifyVersion to do checks
robotCamera.lastVersionCheckTime = -100;
robotCamera.prevTimeSyncWarnTime = -100;
assertDoesNotThrow(robotCamera::verifyVersion);
}
coprocSim.close();
coprocNt.close();
robotNt.close();
tspClient.stop();
}
}

74
photon-lib/src/test/java/org/photonvision/UnitTestUtils.java Normal file
View File

@@ -0,0 +1,74 @@
/*
* MIT License
*
* Copyright (c) PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
import java.util.function.BooleanSupplier;
import org.photonvision.targeting.PhotonPipelineResult;
public class UnitTestUtils {
static void waitForCondition(String name, BooleanSupplier condition) {
// wait up to 1 second for satisfaction
for (int i = 0; i < 100; i++) {
if (condition.getAsBoolean()) {
System.out.println(name + " satisfied on iteration " + i);
return;
}
try {
Thread.sleep(60);
} catch (InterruptedException e) {
e.printStackTrace();
fail(e);
}
}
throw new RuntimeException(name + " was never satisfied");
}
static PhotonPipelineResult waitForSequenceNumber(PhotonCamera camera, int seq) {
assertTrue(camera.heartbeatEntry.getTopic().getHandle() != 0);
System.out.println(
"Waiting for seq=" + seq + " on " + camera.heartbeatEntry.getTopic().getName());
// wait up to 1 second for a new result
for (int i = 0; i < 100; i++) {
var res = camera.getLatestResult();
System.out.println(res);
if (res.metadata.sequenceID == seq) {
return res;
}
try {
Thread.sleep(60);
} catch (InterruptedException e) {
e.printStackTrace();
fail(e);
}
}
throw new RuntimeException("Never saw sequence number " + seq);
}
}

44
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
View File

@@ -28,6 +28,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
@@ -63,7 +64,6 @@ import org.photonvision.jni.WpilibLoader;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.VisionSystemSim;
import org.photonvision.simulation.VisionTargetSim;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
class VisionSystemSimTest {
@@ -110,27 +110,6 @@ class VisionSystemSimTest {
HAL.shutdown();
}
private PhotonPipelineResult waitForSequenceNumber(PhotonCamera camera, int seq) {
assertTrue(camera.heartbeatEntry.getTopic().getHandle() != 0);
System.out.println(
"Waiting for seq=" + seq + " on " + camera.heartbeatEntry.getTopic().getName());
// wait up to 1 second for a new result
for (int i = 0; i < 100; i++) {
var res = camera.getLatestResult();
if (res.metadata.sequenceID == seq) {
return res;
}
try {
Thread.sleep(10);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
throw new RuntimeException("Never saw sequence number " + seq);
}
@Test
public void testEmpty() {
Assertions.assertDoesNotThrow(
@@ -247,7 +226,8 @@ class VisionSystemSimTest {
assertTrue(waitForSequenceNumber(camera, 1).hasTargets());
// Pitched back camera should mean target goes out of view below the robot as distance increases
// Pitched back camera should mean target goes out of view below the robot as
// distance increases
robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
visionSysSim.update(robotPose);
@@ -350,7 +330,8 @@ class VisionSystemSimTest {
assertTrue(res.hasTargets());
var tgt = res.getBestTarget();
// Since the camera is level with the target, a positive-upward point will mean the target is in
// Since the camera is level with the target, a positive-upward point will mean
// the target is in
// the
// lower half of the image
// which should produce negative pitch.
@@ -358,7 +339,8 @@ class VisionSystemSimTest {
}
private static Stream<Arguments> testDistanceCalcArgs() {
// Arbitrary and fairly random assortment of distances, camera pitches, and heights
// Arbitrary and fairly random assortment of distances, camera pitches, and
// heights
return Stream.of(
Arguments.of(5, -15.98, 0),
Arguments.of(6, -15.98, 1),
@@ -382,7 +364,8 @@ class VisionSystemSimTest {
@ParameterizedTest
@MethodSource("testDistanceCalcArgs")
public void testDistanceCalc(double testDist, double testPitch, double testHeight) {
// Assume dist along ground and tgt height the same. Iterate over other parameters.
// Assume dist along ground and tgt height the same. Iterate over other
// parameters.
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI * 0.98));
@@ -406,10 +389,13 @@ class VisionSystemSimTest {
visionSysSim.update(robotPose);
// Note that target 2d yaw/pitch accuracy is hindered by two factors in photonvision:
// 1. These are calculated with the average of the minimum area rectangle, which does not
// Note that target 2d yaw/pitch accuracy is hindered by two factors in
// photonvision:
// 1. These are calculated with the average of the minimum area rectangle, which
// does not
// actually find the target center because of perspective distortion.
// 2. Yaw and pitch are calculated separately which gives incorrect pitch values.
// 2. Yaw and pitch are calculated separately which gives incorrect pitch
// values.
var res = waitForSequenceNumber(camera, 1);
assertTrue(res.hasTargets());

3
photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
View File

@@ -80,7 +80,8 @@ public class NTTopicSet {
.publish(
PhotonPipelineResult.photonStruct.getTypeString(),
PubSubOption.periodic(0.01),
PubSubOption.sendAll(true));
PubSubOption.sendAll(true),
PubSubOption.keepDuplicates(true));
resultPublisher =
new PacketPublisher<PhotonPipelineResult>(rawBytesEntry, PhotonPipelineResult.photonStruct);

7
photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java
View File

@@ -90,6 +90,13 @@ public class PacketSubscriber<T> implements AutoCloseable {
public String getInterfaceUUID() {
// ntcore hands us a JSON string with leading/trailing quotes - remove those
var uuidStr = subscriber.getTopic().getProperty("message_uuid");
// "null" can be returned if the property does not exist. From system knowledge, uuid can never
// be the string literal "null".
if (uuidStr.equals("null")) {
return "";
}
return uuidStr.replace("\"", "");
}

24
photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java
View File

@@ -31,9 +31,9 @@ public class TimeSyncClient {
public long pingsSent;
// incoming count
public long pongsReceived;
// when we last heard back from the server
// when we last heard back from the server, uS, in local time base
public long lastPongTime;
// RTT2, time from ping send to pong recieve at the client
// RTT2, time from ping send to pong receive at the client, uS
public long rtt2;
public PingMetadata(
@@ -87,10 +87,8 @@ public class TimeSyncClient {
this.port = port;
this.interval = interval;
synchronized (mutex) {
this.handle = TimeSyncClient.create(server, port, interval);
TimeSyncClient.start(handle);
}
this.handle = TimeSyncClient.create(server, port, interval);
TimeSyncClient.start(handle);
}
public void setServer(String newServer) {
@@ -121,7 +119,12 @@ public class TimeSyncClient {
*/
public long getOffset() {
synchronized (mutex) {
return TimeSyncClient.getOffset(handle);
if (handle > 0) {
return TimeSyncClient.getOffset(handle);
}
System.err.println("TimeSyncClient: use after free?");
return 0;
}
}
@@ -136,7 +139,12 @@ public class TimeSyncClient {
public PingMetadata getPingMetadata() {
synchronized (mutex) {
return TimeSyncClient.getLatestMetadata(handle);
if (handle > 0) {
return TimeSyncClient.getLatestMetadata(handle);
}
System.err.println("TimeSyncClient: use after free?");
return new PingMetadata(0, 0, 0, 0, 0);
}
}

9
photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java
View File

@@ -18,6 +18,7 @@
package org.photonvision.jni;
public class TimeSyncServer {
private final Object mutex = new Object();
private long handle;
public TimeSyncServer(int port) {
@@ -25,7 +26,13 @@ public class TimeSyncServer {
}
public void start() {
TimeSyncServer.start(handle);
synchronized (mutex) {
if (handle > 0) {
TimeSyncServer.start(handle);
} else {
System.err.println("TimeSyncServer: use after free?");
}
}
}
public void stop() {

16
photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineMetadata.java
View File

@@ -30,7 +30,7 @@ public class PhotonPipelineMetadata implements PhotonStructSerializable<PhotonPi
// Mirror of the heartbeat entry -- monotonically increasing
public long sequenceID;
// Time from last Time Sync Pong received and the construction of this metadata
// Time from last Time Sync Pong received and the construction of this metadata, in uS
public long timeSinceLastPong;
public PhotonPipelineMetadata(
@@ -73,12 +73,14 @@ public class PhotonPipelineMetadata implements PhotonStructSerializable<PhotonPi
@Override
public String toString() {
return "PhotonPipelineMetadata [sequenceID="
+ sequenceID
+ ", captureTimestampMicros="
return "PhotonPipelineMetadata [captureTimestampMicros="
+ captureTimestampMicros
+ ", publishTimestampMicros="
+ publishTimestampMicros
+ ", sequenceID="
+ sequenceID
+ ", timeSinceLastPong="
+ timeSinceLastPong
+ "]";
}
@@ -86,9 +88,10 @@ public class PhotonPipelineMetadata implements PhotonStructSerializable<PhotonPi
public int hashCode() {
final int prime = 31;
int result = 1;
result = prime * result + (int) (sequenceID ^ (sequenceID >>> 32));
result = prime * result + (int) (captureTimestampMicros ^ (captureTimestampMicros >>> 32));
result = prime * result + (int) (publishTimestampMicros ^ (publishTimestampMicros >>> 32));
result = prime * result + (int) (sequenceID ^ (sequenceID >>> 32));
result = prime * result + (int) (timeSinceLastPong ^ (timeSinceLastPong >>> 32));
return result;
}
@@ -98,9 +101,10 @@ public class PhotonPipelineMetadata implements PhotonStructSerializable<PhotonPi
if (obj == null) return false;
if (getClass() != obj.getClass()) return false;
PhotonPipelineMetadata other = (PhotonPipelineMetadata) obj;
if (sequenceID != other.sequenceID) return false;
if (captureTimestampMicros != other.captureTimestampMicros) return false;
if (publishTimestampMicros != other.publishTimestampMicros) return false;
if (sequenceID != other.sequenceID) return false;
if (timeSinceLastPong != other.timeSinceLastPong) return false;
return true;
}

1
photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java
View File

@@ -69,5 +69,6 @@ public class PhotonPipelineResultProto
msg.setSequenceId(value.metadata.getSequenceID());
msg.setCaptureTimestampMicros(value.metadata.getCaptureTimestampMicros());
msg.setNtPublishTimestampMicros(value.metadata.getPublishTimestampMicros());
msg.setTimeSinceLastPongMicros(value.metadata.timeSinceLastPong);
}
}

15
photon-targeting/src/main/native/jni/TimeSyncClientJNI.cpp
View File

@@ -24,6 +24,17 @@
using namespace wpi::tsp;
#define CHECK_PTR(ptr) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return; \
}
#define CHECK_PTR_RETURN(ptr, default) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return default; \
}
/**
* Finds a class and keeps it as a global reference.
*
@@ -117,6 +128,7 @@ JNIEXPORT void JNICALL
Java_org_photonvision_jni_TimeSyncClient_start
(JNIEnv*, jclass, jlong ptr)
{
CHECK_PTR(ptr);
TimeSyncClient* client = reinterpret_cast<TimeSyncClient*>(ptr);
client->Start();
}
@@ -130,6 +142,7 @@ JNIEXPORT void JNICALL
Java_org_photonvision_jni_TimeSyncClient_stop
(JNIEnv*, jclass, jlong ptr)
{
CHECK_PTR(ptr);
TimeSyncClient* client = reinterpret_cast<TimeSyncClient*>(ptr);
client->Stop();
delete client;
@@ -144,6 +157,7 @@ JNIEXPORT jlong JNICALL
Java_org_photonvision_jni_TimeSyncClient_getOffset
(JNIEnv*, jclass, jlong ptr)
{
CHECK_PTR_RETURN(ptr, 0);
TimeSyncClient* client = reinterpret_cast<TimeSyncClient*>(ptr);
return client->GetOffset();
}
@@ -157,6 +171,7 @@ JNIEXPORT jobject JNICALL
Java_org_photonvision_jni_TimeSyncClient_getLatestMetadata
(JNIEnv* env, jclass, jlong ptr)
{
CHECK_PTR_RETURN(ptr, nullptr);
TimeSyncClient* client = reinterpret_cast<TimeSyncClient*>(ptr);
auto m{client->GetMetadata()};
auto ret = env->NewObject(metadataClass, metadataCtor, m.offset, m.pingsSent,

13
photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp
View File

@@ -24,6 +24,17 @@
using namespace wpi::tsp;
#define CHECK_PTR(ptr) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return; \
}
#define CHECK_PTR_RETURN(ptr, default) \
if (!ptr) { \
fmt::println("Got invalid pointer?? {}:{}", __FILE__, __LINE__); \
return default; \
}
extern "C" {
/*
@@ -47,6 +58,7 @@ JNIEXPORT void JNICALL
Java_org_photonvision_jni_TimeSyncServer_start
(JNIEnv*, jclass, jlong ptr)
{
CHECK_PTR(ptr);
TimeSyncServer* server = reinterpret_cast<TimeSyncServer*>(ptr);
server->Start();
}
@@ -60,6 +72,7 @@ JNIEXPORT void JNICALL
Java_org_photonvision_jni_TimeSyncServer_stop
(JNIEnv*, jclass, jlong ptr)
{
CHECK_PTR(ptr);
TimeSyncServer* server = reinterpret_cast<TimeSyncServer*>(ptr);
server->Stop();
delete server;