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[wpiutil] timestamp: Call FPGA functions directly (#5235)

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This works around an exit race with wpi::Now() on Rio; it was overridden
to call HAL_GetFPGATime(), which calls chipobject, but on exit, because
there was not a library dependency, the chipobject could be destroyed
prior to wpiutil/wpinet being shut down.
This commit is contained in:
Peter Johnson
2023-07-24 23:03:28 -07:00
committed by GitHub
parent 2ba8fbb6f4
commit a95994fff6
11 changed files with 166 additions and 20 deletions
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3
cameraserver/multiCameraServer/build.gradle
View File

@@ -59,6 +59,9 @@ model {
lib project: ':cscore', library: 'cscore', linkage: 'static'
lib project: ':wpinet', library: 'wpinet', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
}
}

6
cscore/build.gradle
View File

@@ -215,6 +215,9 @@ model {
it.linker.args << '-lGL'
}
}
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
sources {
cpp {
@@ -233,6 +236,9 @@ model {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib library: 'cscore', linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
sources {
cpp {

20
hal/src/main/native/athena/HAL.cpp
View File

@@ -516,8 +516,9 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
setNewDataSem(nullptr);
});
nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
nLoadOut::getTargetClass();
// Setup WPI_Now to use FPGA timestamp
// this also sets nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass
wpi::impl::SetupNowRio();
int32_t status = 0;
global.reset(tGlobal::create(&status));
@@ -543,21 +544,6 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
return false;
}
// Set WPI_Now to use FPGA timestamp
wpi::SetNowImpl([]() -> uint64_t {
int32_t status = 0;
uint64_t rv = HAL_GetFPGATime(&status);
if (status != 0) {
fmt::print(stderr,
"Call to HAL_GetFPGATime failed in wpi::Now() with status {}. "
"Initialization might have failed. Time will not be correct\n",
status);
std::fflush(stderr);
return 0u;
}
return rv;
});
hal::WaitForInitialPacket();
initialized = true;

3
ntcore/src/dev/native/cpp/main.cpp
View File

@@ -14,6 +14,7 @@
#include <fmt/format.h>
#include <wpi/Synchronization.h>
#include <wpi/timestamp.h>
#include "ntcore.h"
#include "ntcore_cpp.h"
@@ -23,6 +24,8 @@ void bench2();
void stress();
int main(int argc, char* argv[]) {
wpi::impl::SetupNowRio();
if (argc == 2 && std::string_view{argv[1]} == "bench") {
bench();
return EXIT_SUCCESS;

3
ntcore/src/test/native/cpp/main.cpp
View File

@@ -4,10 +4,13 @@
#include <climits>
#include <wpi/timestamp.h>
#include "gmock/gmock.h"
#include "ntcore.h"
int main(int argc, char** argv) {
wpi::impl::SetupNowRio();
nt::AddLogger(nt::GetDefaultInstance(), 0, UINT_MAX, [](auto& event) {
if (auto msg = event.GetLogMessage()) {
std::fputs(msg->message.c_str(), stderr);

21
shared/javacpp/setupBuild.gradle
View File

@@ -78,6 +78,18 @@ model {
}
}
}
binaries.all {
lib library: nativeName, linkage: 'shared'
if (!project.hasProperty('noWpiutil')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
if (project.hasProperty('exeSplitSetup')) {
exeSplitSetup(it)
}
}
}
}
testSuites {
@@ -104,6 +116,15 @@ model {
binaries {
withType(GoogleTestTestSuiteBinarySpec) {
lib library: nativeName, linkage: 'shared'
if (!project.hasProperty('noWpiutil')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
if (project.hasProperty('exeSplitSetup')) {
exeSplitSetup(it)
}
}
}
tasks {

7
shared/jni/setupBuild.gradle
View File

@@ -198,7 +198,6 @@ model {
targetBuildTypes 'debug'
sources {
cpp {
source {
srcDirs 'src/dev/native/cpp'
include '**/*.cpp'
@@ -217,6 +216,9 @@ model {
if (!project.hasProperty('noWpiutil')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
if (project.hasProperty('exeSplitSetup')) {
exeSplitSetup(it)
@@ -253,6 +255,9 @@ model {
lib library: nativeName, linkage: 'shared'
if (!project.hasProperty('noWpiutil')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
if (project.hasProperty('exeSplitSetup')) {
exeSplitSetup(it)

9
wpinet/build.gradle
View File

@@ -231,6 +231,9 @@ model {
binaries.all {
lib library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
sources {
cpp {
@@ -256,6 +259,9 @@ model {
binaries.all { binary ->
lib project: ':wpinet', library: 'wpinet', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
}
if (binary.targetPlatform.operatingSystem.isLinux()) {
linker.args "-lutil"
}
@@ -275,6 +281,9 @@ model {
binaries.all { binary ->
lib project: ':wpinet', library: 'wpinet', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
}
}

20
wpiutil/build.gradle
View File

@@ -138,6 +138,12 @@ ext {
}
}
}
exeSplitSetup = {
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
}
def examplesMap = [:];
@@ -231,6 +237,9 @@ model {
targetBuildTypes 'debug'
binaries.all {
lib library: 'wpiutil', linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
sources {
cpp {
@@ -245,6 +254,17 @@ model {
}
}
model {
binaries {
all {
if (!(it instanceof NativeBinarySpec)) return
if (it.component.name != 'wpiutil' && it.component.name != 'wpiutilBase') return
if (it.targetPlatform.name != nativeUtils.wpi.platforms.roborio) return
nativeUtils.useRequiredLibrary(it, 'ni_link_libraries')
}
}
}
sourceSets {
printlog
}

74
wpiutil/src/main/native/cpp/timestamp.cpp
View File

@@ -6,6 +6,23 @@
#include <atomic>
#ifdef __FRC_ROBORIO__
#include <stdint.h>
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
#pragma GCC diagnostic ignored "-Wignored-qualifiers"
#include <FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h>
#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h>
#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h>
#include <FRC_NetworkCommunication/LoadOut.h>
#pragma GCC diagnostic pop
namespace fpga {
using namespace nFPGA;
using namespace nRoboRIO_FPGANamespace;
} // namespace fpga
#include <memory>
#endif
#ifdef _WIN32
#include <windows.h>
@@ -15,6 +32,14 @@
#include <chrono>
#endif
#include <cstdio>
#include "fmt/format.h"
#ifdef __FRC_ROBORIO__
static std::unique_ptr<fpga::tGlobal> global;
#endif
// offset in microseconds
static uint64_t time_since_epoch() noexcept {
#ifdef _WIN32
@@ -88,12 +113,57 @@ uint64_t wpi::NowDefault() {
static std::atomic<uint64_t (*)()> now_impl{wpi::NowDefault};
void wpi::impl::SetupNowRio() {
#ifdef __FRC_ROBORIO__
if (!global) {
nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
nLoadOut::getTargetClass();
int32_t status = 0;
global.reset(fpga::tGlobal::create(&status));
}
#endif
}
void wpi::SetNowImpl(uint64_t (*func)(void)) {
now_impl = func ? func : NowDefault;
}
uint64_t wpi::Now() {
#ifdef __FRC_ROBORIO__
// Same code as HAL_GetFPGATime()
if (!global) {
std::fputs(
"FPGA not yet configured in wpi::Now(). Time will not be correct",
stderr);
std::fflush(stderr);
return 0;
}
int32_t status = 0;
uint64_t upper1 = global->readLocalTimeUpper(&status);
uint32_t lower = global->readLocalTime(&status);
uint64_t upper2 = global->readLocalTimeUpper(&status);
if (status != 0) {
goto err;
}
if (upper1 != upper2) {
// Rolled over between the lower call, reread lower
lower = global->readLocalTime(&status);
if (status != 0) {
goto err;
}
}
return (upper2 << 32) + lower;
err:
fmt::print(stderr,
"Call to FPGA failed in wpi::Now() with status {}. "
"Initialization might have failed. Time will not be correct\n",
status);
std::fflush(stderr);
return 0;
#else
return (now_impl.load())();
#endif
}
uint64_t wpi::GetSystemTime() {
@@ -102,6 +172,10 @@ uint64_t wpi::GetSystemTime() {
extern "C" {
void WPI_Impl_SetupNowRio(void) {
return wpi::impl::SetupNowRio();
}
uint64_t WPI_NowDefault(void) {
return wpi::NowDefault();
}

20
wpiutil/src/main/native/include/wpi/timestamp.h
View File

@@ -11,6 +11,13 @@
extern "C" {
#endif
/**
* Initialize the on-Rio Now() implementation to use the FPGA timestamp.
* No effect on non-Rio platforms. This is called by HAL_Initialize() and
* thus should generally not be called by user code.
*/
void WPI_Impl_SetupNowRio(void);
/**
* The default implementation used for Now().
* In general this is the time returned by the operating system.
@@ -48,12 +55,21 @@ uint64_t WPI_GetSystemTime(void);
#ifdef __cplusplus
namespace wpi {
namespace impl {
/**
* Initialize the on-Rio Now() implementation to use the FPGA timestamp.
* No effect on non-Rio platforms. This is called by HAL_Initialize() and
* thus should generally not be called by user code.
*/
void SetupNowRio();
} // namespace impl
/**
* The default implementation used for Now().
* In general this is the time returned by the operating system.
* @return Time in microseconds.
*/
uint64_t NowDefault(void);
uint64_t NowDefault();
/**
* Set the implementation used by Now().
@@ -68,7 +84,7 @@ void SetNowImpl(uint64_t (*func)());
* This is a monotonic clock with an undefined epoch.
* @return Time in microseconds.
*/
uint64_t Now(void);
uint64_t Now();
/**
* Return the current system time in microseconds since the Unix epoch