[hal,wpiutil] Error out of HAL_Initialize if SetupRioNow fails (#6374)

wpilibsuite · Feb 16, 2024 · ba15844 · ba15844
1 parent 6afff99
commit ba15844
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Showing 3 changed files with 23 additions and 15 deletions.
diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp
@@ -524,7 +524,7 @@ static bool killExistingProgram(int timeout, int mode) {
   return true;
 }
 
-static void SetupNowRio(void) {
+static bool SetupNowRio(void) {
   nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
       nLoadOut::getTargetClass();
 
@@ -534,23 +534,23 @@ static void SetupNowRio(void) {
   status = dladdr(reinterpret_cast<void*>(tHMB::create), &info);
   if (status == 0) {
     fmt::print(stderr, "Failed to call dladdr on chipobject {}\n", dlerror());
-    return;
+    return false;
   }
 
   void* chipObjectLibrary = dlopen(info.dli_fname, RTLD_LAZY);
   if (chipObjectLibrary == nullptr) {
     fmt::print(stderr, "Failed to call dlopen on chipobject {}\n", dlerror());
-    return;
+    return false;
   }
 
   std::unique_ptr<tHMB> hmb;
   hmb.reset(tHMB::create(&status));
   if (hmb == nullptr) {
     fmt::print(stderr, "Failed to open HMB on chipobject {}\n", status);
     dlclose(chipObjectLibrary);
-    return;
+    return false;
   }
-  wpi::impl::SetupNowRio(chipObjectLibrary, std::move(hmb));
+  return wpi::impl::SetupNowRio(chipObjectLibrary, std::move(hmb));
 }
 
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
@@ -593,7 +593,9 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
     setNewDataSem(nullptr);
   });
 
-  SetupNowRio();
+  if (!SetupNowRio()) {
+    return false;
+  }
 
   int32_t status = 0;
 

diff --git a/wpiutil/src/main/native/cpp/timestamp.cpp b/wpiutil/src/main/native/cpp/timestamp.cpp
@@ -133,13 +133,15 @@ struct HMBLowLevel {
                                                           dlcloseWrapper};
 };
 struct HMBHolder {
-  void Configure(void* col, std::unique_ptr<fpga::tHMB> hmbObject) {
+  bool Configure(void* col, std::unique_ptr<fpga::tHMB> hmbObject) {
     hmb = std::move(hmbObject);
     chipObjectLibrary.reset(col);
     if (!lowLevel.Configure(hmb->getSystemInterface()->getHandle())) {
       hmb = nullptr;
       chipObjectLibrary = nullptr;
+      return false;
     }
+    return true;
   }
   void Reset() {
     lowLevel.Reset();
@@ -236,20 +238,22 @@ void wpi::impl::SetupNowDefaultOnRio() {
 
 #ifdef __FRC_ROBORIO__
 template <>
-void wpi::impl::SetupNowRio(void* chipObjectLibrary,
+bool wpi::impl::SetupNowRio(void* chipObjectLibrary,
                             std::unique_ptr<fpga::tHMB> hmbObject) {
   if (!hmbInitialized.test()) {
-    hmb.Configure(chipObjectLibrary, std::move(hmbObject));
+    return hmb.Configure(chipObjectLibrary, std::move(hmbObject));
   }
+  return true;
 }
 #endif
 
-void wpi::impl::SetupNowRio(uint32_t session) {
+bool wpi::impl::SetupNowRio(uint32_t session) {
 #ifdef __FRC_ROBORIO__
   if (!hmbInitialized.test()) {
-    hmb.lowLevel.Configure(session);
+    return hmb.lowLevel.Configure(session);
   }
 #endif
+  return true;
 }
 
 void wpi::impl::ShutdownNowRio() {
@@ -311,7 +315,7 @@ void WPI_Impl_SetupNowUseDefaultOnRio(void) {
 }
 
 void WPI_Impl_SetupNowRioWithSession(uint32_t session) {
-  return wpi::impl::SetupNowRio(session);
+  wpi::impl::SetupNowRio(session);
 }
 
 void WPI_Impl_ShutdownNowRio(void) {

diff --git a/wpiutil/src/main/native/include/wpi/timestamp.h b/wpiutil/src/main/native/include/wpi/timestamp.h
@@ -74,18 +74,20 @@ void SetupNowDefaultOnRio();
  */
 #ifdef __FRC_ROBORIO__
 template <typename T>
-void SetupNowRio(void* chipObjectLibrary, std::unique_ptr<T> hmbObject);
+bool SetupNowRio(void* chipObjectLibrary, std::unique_ptr<T> hmbObject);
 #else
 template <typename T>
-inline void SetupNowRio(void*, std::unique_ptr<T>) {}
+inline bool SetupNowRio(void*, std::unique_ptr<T>) {
+  return true;
+}
 #endif
 
 /**
  * Initialize the on-Rio Now() implementation to use the FPGA timestamp.
  * No effect on non-Rio platforms. This take an FPGA session that has
  * already been initialized, and is used from LabVIEW.
  */
-void SetupNowRio(uint32_t session);
+bool SetupNowRio(uint32_t session);
 
 /**
  * De-initialize the on-Rio Now() implementation. No effect on non-Rio