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

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# 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
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3
photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
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@@ -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
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@@ -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;