swaglog: delay creating zmq socket to first use - fix modeld crash in sim (#24271)

* Initialize zmq socket later with initialize method

* empty lines

* Add lock and move initialize function

* Check for initialized

selfdrive/common/statlog.cc

@@ -17,6 +17,9 @@ class StatlogState : public LogState {
 static StatlogState s = {};
 
 static void log(const char* metric_type, const char* metric, const char* fmt, ...) {
+  std::lock_guard lk(s.lock);
+  if (!s.initialized) s.initialize();
+
   char* value_buf = nullptr;
   va_list args;
   va_start(args, fmt);

selfdrive/common/swaglog.cc

@@ -21,7 +21,6 @@ class SwaglogState : public LogState {
  public:
   SwaglogState() : LogState("ipc:///tmp/logmessage") {}
 
-  bool initialized = false;
   json11::Json::object ctx_j;
 
   inline void initialize() {
@@ -56,8 +55,7 @@ class SwaglogState : public LogState {
     } else {
       ctx_j["device"] =  "pc";
     }
-
-    initialized = true;
+    LogState::initialize();
   }
 };
 
@@ -113,7 +111,7 @@ void cloudlog_t_common(int levelnum, const char* filename, int lineno, const cha
   char* msg_buf = nullptr;
   int ret = vasprintf(&msg_buf, fmt, args);
   if (ret <= 0 || !msg_buf) return;
-  json11::Json::object tspt_j = json11::Json::object{ 
+  json11::Json::object tspt_j = json11::Json::object{
     {"event", msg_buf},
     {"time", std::to_string(nanos_since_boot())}
   };

selfdrive/common/util.h

@@ -168,12 +168,18 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
 
 class LogState {
  public:
+  bool initialized = false;
   std::mutex lock;
-  void *zctx;
-  void *sock;
+  void *zctx = nullptr;
+  void *sock = nullptr;
   int print_level;
+  const char* endpoint;
 
-  LogState(const char* endpoint) {
+  LogState(const char* _endpoint) {
+    endpoint = _endpoint;
+  }
+
+  inline void initialize() {
     zctx = zmq_ctx_new();
     sock = zmq_socket(zctx, ZMQ_PUSH);
 
@@ -182,9 +188,13 @@ class LogState {
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
 
     zmq_connect(sock, endpoint);
-  };
+    initialized = true;
+  }
+
   ~LogState() {
-    zmq_close(sock);
-    zmq_ctx_destroy(zctx);
+    if (initialized) {
+      zmq_close(sock);
+      zmq_ctx_destroy(zctx);
+    }
   }
 };