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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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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;