paranoia stuff

PhotonVision · Nov 2, 2024 · 47b8426 · 47b8426
1 parent 4f73d1a
commit 47b8426
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Showing 5 changed files with 50 additions and 8 deletions.
diff --git a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
@@ -190,7 +190,6 @@ public void testRestartingRobotAndCoproc(
 
             if (i == robotStart || i == robotRestart) {
                 robotNt.startServer("networktables_random.json", "", 5941, 5940);
-                robotNt.startClient4("testClient");
             }
 
             Thread.sleep(100);

diff --git a/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java b/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncClient.java
@@ -87,10 +87,8 @@ public TimeSyncClient(String server, int port, double interval) {
         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 void stop() {
      */
     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 long currentServerTimestamp() {
 
     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);
         }
     }
 

diff --git a/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java b/photon-targeting/src/main/java/org/photonvision/jni/TimeSyncServer.java
@@ -18,14 +18,21 @@
 package org.photonvision.jni;
 
 public class TimeSyncServer {
+    private final Object mutex = new Object();
     private long handle;
 
     public TimeSyncServer(int port) {
         this.handle = TimeSyncServer.create(port);
     }
 
     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() {

diff --git a/photon-targeting/src/main/native/jni/TimeSyncClientJNI.cpp b/photon-targeting/src/main/native/jni/TimeSyncClientJNI.cpp
@@ -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,

diff --git a/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp b/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp
@@ -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;