Move the creation of the time sync SimDevice to before the robot is e…

…ven created. This ensures that there is no way it is created after some robot code requests a HALSimWS connection.
DeepBlueRobotics · Jul 18, 2024 · 0673825 · 0673825
1 parent 31850e6
commit 0673825
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/plugin/libdeepbluesim/src/main/java/org/carlmontrobotics/libdeepbluesim/WebotsSimulator.java b/plugin/libdeepbluesim/src/main/java/org/carlmontrobotics/libdeepbluesim/WebotsSimulator.java
@@ -424,11 +424,6 @@ private void sendRobotTime() {
     private void startTimeSync() {
         LOG.log(Level.DEBUG, "In startTimeSync()");
         ensureRobotTimingStarted();
-        timeSyncDevice = SimDevice.create("DBSTimeSync");
-        robotTimeSecSim = timeSyncDevice.createDouble("robotTimeSec",
-                SimDevice.Direction.kBidir, -1.0);
-        timeSyncDevice.createDouble("simTimeSec", SimDevice.Direction.kBidir,
-                -1.0);
         LOG.log(Level.DEBUG, "Created SimDevice with name {0}",
                 timeSyncDevice.getName());
         timeSyncDeviceSim = new SimDeviceSim("DBSTimeSync");
@@ -800,6 +795,12 @@ public void run() throws InstantiationException, IllegalAccessException,
         HAL.initialize(500, 0);
         waitForUserToStart(worldFile.getAbsolutePath());
 
+        timeSyncDevice = SimDevice.create("DBSTimeSync");
+        robotTimeSecSim = timeSyncDevice.createDouble("robotTimeSec",
+                SimDevice.Direction.kOutput, -1.0);
+        timeSyncDevice.createDouble("simTimeSec", SimDevice.Direction.kInput,
+                -1.0);
+
         // Restart timing before robot is constructed to ensure that timed callbacks added during
         // the constructor (and our own onRobotInit callback) work properly.
         SimHooks.restartTiming();