Squashed 'third_party/allwpilib/' changes from e473a00f97..e4b91005cf
e4b91005cf [examples] Update SwerveModule constructor doc (NFC) (#4042)
a260bfd83b [examples] Remove "this" keyword from SwerveModule (#4043)
18e262a100 [examples] Fix multiple doc typos in SwerveControllerCommand example (NFC) (#4044)
4bd1f526ab [wpilibc] Prevent StopMotor from terminating robot during MotorSafety check (#4038)
27847d7eb2 [sim] Expose GUI control functions via HAL_RegisterExtension (#4034)
b2a8d3f0f3 [wpilibc] Add mechanism to reset MotorSafety list (#4037)
49adac9564 [wpilib] Check for signedness in ArcadeDriveIK() (#4028)
a19d1133b1 [wpiutil] libuv: Fix sign compare warnings in gcc 11.2 (#4031)
dde91717e4 [build] cmake: Add ability to customize target warnings (#4032)
e9050afd67 [sim] Update sim match time to match real robot (#4024)
165d2837cf [wpilib] Preferences: Set Persistent in Init methods (#4025)
ac7549edca [glass] Fix snprintf truncation warning (#4029)
4d96bc72e0 [wpilibj] Fix typos in error messages for non-null assertions (#4014)
3411eee20f [hal] Replace hardcoded sim array sizes with constants (#4015)
74de97eeca [wpilibc] Add mechanism to reset various global structures (#4007)
4e3cc25012 [examples] Fix periodic function rate comment (NFC) (#4013)
90c1db393e [sim] Add exported functions to control the sim GUI (#3995)
2f43274aa4 [wpilibj] MechanismRoot2d: Add flush to setPosition (#4011)
aeca09db09 [glass] Support remapping of Enter key (#3994)
c107f22c67 [sim] Sim GUI: don't force-show Timing and Other Devices (#4001)
68fe51e8da [wpigui] Update PFD to latest, fix kdialog multiselect (#4005)
8d08d67cf1 [wpigui] PFD: Add console warning if file chooser unavailable (#4003)
4f1782f66e [wpilibc] Only call HAL_Report when initializing SmartDashboard (#4006)
3f77725cd3 Remove uses of iostream (#4004)
5635f33a32 [glass] Increase plot depth to 20K points (#3993)
bca4b7111b [glass] Fix PlotSeries::SetSource() (#3991)
6a6366b0d6 [commands] Add until() as alias for withInterrupt() (#3981)
16bf2c70c5 [wpilib] Fix joystick out of range error messages (#3988)
4b3edb742c [wpilib] Fix ADIS16448 IMU default constructor not working in Java (#3989)
fcf23fc9e9 [hal] Fix potential gamedata out of bounds read (#3983)
af5ef510c5 [wpilibc] Fix REV PH pulse duration units (#3982)
05401e2b81 [wpilib] Write REV PH firmware version to roboRIO to display on driver station (#3977)
9fde0110b6 Update to 2022 v4.0 image (#3944)
b03f8ddb2e [examples] fix incorrect variable in Arm Simulation Pref (#3980)
a26df2a022 [examples] Update ArmSimulation example to use Preferences (#3976)
d68d6674e8 [examples] Armbot: rename kCos to kG (#3975)
a8f0f6bb90 [wpilibj] Fix ADIS16448 getRate to return rate instead of angle (#3974)
dd9c92d5bf [build] Remove debug info from examples (#3971)
84df14dd70 [rtns] Fix icons (#3972)
560094ad92 [examples] Correct Mecanum example axes (#3955)
7ea1be9c01 [wpilibc] Fix typo in hardware version for REV PDH (#3969)
700f13bffd [wpilibj] Make methods public for Java REV PDH (#3970)
b6aa7c1aa9 [wpilibj] Make methods public for Java REVPH (#3968)
eb4d183e48 [wpimath] Fix clang-tidy bugprone-integer-division warning (#3966)
77e4e81e1e [wpilib] Add Field widget to BuiltInWidgets in shuffleboard (#3961)
88f5cb6eb0 [build] Publish PDBs with C++ tools (#3960)
efae552f3e [wpimath] Remove DifferentialDriveKinematics include from odometry (#3958)
46b277421a [glass] Update Speed Controller Type name for 2022 WPILib (#3952)
42908126b9 [wpilib] Add DCMotorSim (#3910)
a467392cbd [wpiutil] StackTrace: Add ability to override default implementation (#3951)
78d0bcf49d [templates] Add SimulationInit()/SimulationPeriodic() to robot templates (#3943)
02a0ced9b0 [wpilib] MecanumDrive: update docs for axis to match implementation (NFC) (#3942)
4ccfe1c9f2 [wpilib] Added docs clarification on units for drive class WheelSpeeds (NFC) (#3939)
830c0c5c2f [wpilib] MechanismLigament2d: Add getters for color and line weight (#3947)
5548a37465 [wpilib] PowerDistribution: Add module type getter (#3948)
2f9a600de2 [hal] Fix PCM one shot (#3949)
559db11a20 [myRobot] Skip deploying debug libraries for myRobot deploys (#3950)
76c78e295b [examples] Reorder SwerveModules in SwerveControllerCommand example odometry update (#3934)
debbd5ff4b [wpilib] Improve PowerDistribution docs (NFC) (#3925)
841174f302 [commands] Change command vendordep JSON version number to 1.0.0 (#3938)
8c55844f91 [wpilib] Remove comment about Mecanum right side inverted (NFC) (#3929)
0b990bf0f5 [hal] Fix PCM sticky faults clear function crashing (#3932)
104d7e2abc [hal] Don't throw exceptions in PCM JNI (#3933)
5ba69e1af1 [examples] Updated type in Java SwerveModule (#3928)
f3a0b5c7d7 [wpimath] Fix Java SimpleMotorFeedforward Docs (NFC) (#3926)
7f4265facc [wpimath] Add LinearFilter::FiniteDifference() (#3900)
63d1fb3bed [wpiutil] Modify fmt to not throw on write failure (#3919)
36af6d25a5 [wpimath] Fix input vector in pose estimator docs (NFC) (#3923)
8f387f7255 [wpilibj] Switch ControlWord mutex to actual reentrant mutex (#3922)
792e735e08 [wpimath] Move TrajectoryGenerator::SetErrorHandler definition to .cpp (#3920)
3b76de83eb [commands] Fix ProfiledPIDCommand use-after-free (#3904)
ad9f738cfa [fieldimages] Fix maven publishing (#3897)
49455199e5 [examples] Use left/rightGroup.Get() for simulator inputs to fix inversions (#3908)
64426502ea [wpimath] Fix arm -> flywheel typo (NFC) (#3911)
8cc112d196 [wpiutil] Fix wpi::array for move-only types (#3917)
e78cd49861 [build] Upgrade Java formatter plugins (#3894)
cfb4f756d6 [build] Upgrade to shadow 7.1.2 (#3893)
ba0908216c [wpimath] Fix crash in KF latency compensator (#3888)
a3a0334fad [build] cmake: Move fieldImages to WITH_GUI (#3885)
cf7460c3a8 [fieldImages] Add 2022 field (#3883)
db0fbb6448 [wpimath] Fix LQR matrix constructor overload for Q, R, and N (#3884)
8ac45f20bb [commands] Update Command documentation (NFC) (#3881)
b3707cca0b [wpiutil] Upgrade to fmt 8.1.1 (#3879)
a69ee3ece9 [wpimath] Const-qualify Twist2d scalar multiply (#3882)
750d9a30c9 [examples] Fix Eigen out of range error when running example (#3877)
41c5b2b5ac [rtns] Add cmake build (#3866)
6cf3f9b28e [build] Upgrade to Gradle 7.3.3 (#3878)
269cf03472 [examples] Add communication examples (e.g. arduino) (#2500)
5ccfc4adbd [oldcommands] Deprecate PIDWrappers, since they use deprecated interfaces (#3868)
b6f44f98be [hal] Add warning about onboard I2C (#3871)
0dca57e9ec [templates] romieducational: Invert drivetrain and disable motor safety (#3869)
22c4da152e [wpilib] Add GetRate() to ADIS classes (#3864)
05d66f862d [templates] Change the template ordering to put command based first (#3863)
b09f5b2cf2 [wpilibc] Add virtual dtor for LinearSystemSim (#3861)
a2510aaa0e [wpilib] Make ADIS IMU classes unit-safe (#3860)
947f589916 [wpilibc] Rename ADIS_16470_IMU.cpp to match class name (#3859)
bbd8980a20 [myRobot] Fix cameraserver library order (#3858)
831052f118 [wpilib] Add simulation support to ADIS classes (#3857)
c137569f91 [wpilib] Throw exception if the REV Pneumatic Hub firmware version is older than 22.0.0 (#3853)
dae61226fa Fix Maven Artifacts readme (#3856)
3ad4594a88 Update Maven artifacts readme for 2022 (#3855)
112acb9a62 [wpilibc] Move ADIS IMU constants to inside class (#3852)
ecee224e81 [wpilib] Allow SendableCameraWrappers to take arbitrary URLs (#3850)
a3645dea34 LICENSE: Bump year range to include 2022 (#3854)
7c09f44898 [wpilib] Use PSI for compressor config and sensor reading (#3847)
f401ea9aae [wpigui] Remove wpiutil linkage (#3851)
bf8517f1e6 [wpimath] TimeInterpolatableBufferTest: Fix lint warnings (#3849)
528087e308 [hal] Use enums with fixed underlying type in clang C (#3297)
1f59ff72f9 [wpilib] Add ADIS IMUs (#3777)
315be873c4 [wpimath] Add TimeInterpolatableBuffer (#2695)
b8d019cdb4 [wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)
102f23bbdb [wpilibj] DriverStation: Set thread interrupted state (#3846)
b85c24a79c [wpilib] Add warning about onboard I2C (#3842)
eee29daaf9 [newCommands] Trigger: Allow override of debounce type (#3845)
aa9dfabde2 [wpimath] Move debouncer to filters (#3838)
5999a26fba [wpiutil] Add GetSystemTime() (#3840)
1e82595ffb [examples] Fix arcade inversions (#3841)
e373fa476b [wpiutil] Add disableMockTime to JNI (#3839)
dceb5364f4 [examples] Ensure right side motors are inverted (#3836)
baacbc8e24 [wpilib] Tachometer: Add function to return RPS (#3833)
84b15f0883 [templates] Add Java Romi Educational template (#3837)
c0da9d2d35 [examples] Invert Right Motor in Romi Java examples (#3828)
0fe0be2733 [build] Change project year to intellisense (#3835)
eafa947338 [wpimath] Make copies of trajectory constraint arguments (#3832)
9d13ae8d01 [wpilib] Add notes for Servo get that it only returns cmd (NFC) (#3820)
2a64e4bae5 [wpimath] Give drivetrain a more realistic width in TrajectoryJsonTest.java (#3822)
c3fd20db59 [wpilib] Fix trajectory sampling in DifferentialDriveSim test (#3821)
6f91f37cd0 [examples] Fix SwerveControllerCommand order of Module States (#3815)
5158730b81 [wpigui] Upgrade to imgui 1.86, GLFW 3.3.6 (#3817)
2ad2d2ca96 [wpiutil] MulticastServiceResolver: Fix C array returning functions (#3816)
b5fd29774f [wpilibj] Trigger: implement BooleanSupplier interface (#3811)
9f8f330e96 [wpilib] Fix Mecanum and SwerveControllerCommand when desired rotation passed (#3808)
1ad3b1b333 [hal] Don't copy byte to where null terminator goes (#3807)
dfc24425c3 [build] Fix gazebo gradle IDE warnings (#3806)
c02577bb51 [glass] Configure delay loading for windows camera server support (#3803)
c9e6a96a61 [wpilib] Document range of Servo angle (NFC) (#3796)
9778626f34 [wpilib, hal] Add support for getting faults and versions from power distribution (#3794)
34b2d0dae1 [wpilib, hal] High Level REV PH changes (#3792)
59a7528fd6 [cscore] Fix crash when usbcamera is deleted before message pump thread fully starts (#3804)
11d9859ef1 [build] Update plugins to remove log4j vulnerabilities (#3805)
e44ed752ad [glass] Fix CollapsingHeader in Encoder, PCM, and DeviceTree (#3797)
52b2dd5b89 [build] Bump native utils to remove log4j (#3802)
c46636f218 [wpilib] Improve new counter classes documentation (NFC) (#3801)
dc531462e1 [build] Update to gradle 7.3.2 (#3800)
92ba98621c [wpimath] Add helper variable templates for units type traits (#3790)
d41d051f1b [wpilibc] Fix Mecanum & Swerve ControllerCommand lambda capture (#3795)
c5ae0effac OtherVersions.md: Add one missing case of useLocal (#3788)
b3974c6ed3 [wpimath] Upgrade to Drake v0.37.0 (#3786)
589a00e379 [wpilibc] Start DriverStation thread from RobotBase (#3785)
8d9836ca02 [wpilib] Improve curvature drive documentation (NFC) (#3783)
8b5bf8632e [myRobot] Add wpimath and wpiutil JNI (#3784)
1846114491 [examples] Update references from characterization to SysId (NFC) (#3782)
2c461c794e [build] Update to gradle 7.3 (#3778)
109363daa4 [hal] Add remaining driver functions for REVPH (#3776)
41d26bee8d [hal] Refactor REV PDH (#3775)
7269a170fb Upgrade maven deps to latest versions and fix new linter errors (#3772)
441f2ed9b0 [build] actions: use fixed image versions instead latest (#3761)
15275433d4 [examples] Fix duplicate port allocations in C++ SwerveBot/SwerveDrivePoseEstimator/RomiReference (#3773)
1ac02d2f58 [examples] Fix drive Joystick axes in several examples (#3769)
8ee6257e92 [wpilib] DifferentialDrivetrainSim.KitbotMotor: Add NEO and Falcon 500 (#3762)
d81ef2bc5c [wpilib] Fix deadlocks in Mechanism2d et al. (#3770)
acb64dff97 [wpimath] Make RamseteController::Calculate() more concise (#3763)
3f6cf76a8c [hal] Refactor REV PH CAN frames (#3756)
3ef2dab465 [wpilib] DutyCycleEncoder: add setting of duty cycle range (#3759)
a5a56dd067 Readme: Add Visual Studio 2022 (#3760)
04957a6d30 [wpimath] Fix units of RamseteController's b and zeta (#3757)
5da54888f8 [glass] Upgrade imgui to 0.85, implot to HEAD, glfw to 3.3.5 (#3754)
6c93365b0f [wpiutil] MulticastService cleanup (#3750)
1c4a8bfb66 [cscore] Cleanup Windows USB camera impl (#3751)
d51a1d3b3d [rtns] Fix icon (#3749)
aced2e7da6 Add roboRIO Team Number Setter tool (#3744)
fa1ceca83a [wpilibj] Use DS cache for iterative robot control word cache (#3748)
0ea05d34e6 [build] Update to gradle 7.2 (#3746)
09db4f672b [build] Update to native utils 2022.6.1 (#3745)
4ba80a3a8c [wpigui] Don't recursively render frames in size callback (#3743)
ae208d2b17 [wpiutil] StringExtras: Add substr() (#3742)
6f51cb3b98 [wpiutil] MulticastResolver: make event manual reset, change to multiple read (#3736)
f6159ee1a2 [glass] Fix Drive widget handling of negative rotation (#3739)
7f401ae895 [build] Update NI libraries to 2022.2.3 (#3738)
0587b7043a [glass] Use JSON files for storage instead of imgui ini
0bbf51d566 [wpigui] Change maximized to bool
92c6eae6b0 [wpigui] PFD: Add explicit to constructors
141354cd79 [wpigui] Add hooks for custom load/save settings
f6e9fc7d71 [wpiutil] Handle multicast service collision on linux (#3734)
d8418be7d1 [glass, outlineviewer] Return 0 from WinMain (#3735)
82066946e5 [wpiutil] Add mDNS resolver and announcer (#3733)
4b1defc8d8 [wpilib] Remove automatic PD type from module type enum (#3732)
da90c1cd2c [wpilib] Add bang-bang controller (#3676)
3aa54fa027 [wpilib] Add new counter implementations (#2447)
b156db400d [hal, wpilib] Incorporate pneumatic control type into wpilibc/j (#3728)
9aba2b7583 [oldCommands] Add wrappers for WPILib objects to work with old PID Controller (#3710)
a9931223f0 [hal] Add REV PH faults (#3729)
aacf9442e4 [wpimath] Fix units typo in LinearSystemId source comment (#3730)
7db10ecf00 [wpilibc] Make SPI destructor virtual since SPI contains virtual functions (#3727)
a0a5b2aea5 [wpimath] Upgrade to EJML 0.41 (#3726)
eb835598a4 [hal] Add HAL functions for compressor config modes on REV PH (#3724)
f0ab6df5b6 [wpimath] Upgrade to Drake v0.36.0 (#3722)
075144faa3 [docs] Parse files without extensions with Doxygen (#3721)
32468a40cb [hal] Remove use of getDmaDescriptor from autospi (#3717)
38611e9dd7 [hal] Fix REVPH Analog Pressure channel selection (#3716)
4d78def31e [wpilib] Add DeadbandElimination forwarding to PWMMotorController (#3714)
3be0c1217a [wpilibcExamples] Make GearsBot use idiomatic C++ (#3711)
42d3a50aa2 [hal] Check error codes during serial port initialization (#3712)
52f1464029 Add project with field images and their json config files (#3668)
68ce62e2e9 [hal] Add autodetect for power modules (#3706)
3dd41c0d37 [wpilib] Don't print PD errors for LiveWindow reads (#3708)
7699a1f827 [hal] Fix sim not working with automatic PD type and default module (#3707)
Change-Id: I6b0b8fa8b2d2a24071240f624db9ec6d127f6648
git-subtree-dir: third_party/allwpilib
git-subtree-split: e4b91005cf69161f1cb3d934f6526232e6b9169e
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/wpiutil/src/main/native/macOS/MulticastServiceAnnouncer.cpp b/wpiutil/src/main/native/macOS/MulticastServiceAnnouncer.cpp
new file mode 100644
index 0000000..ad2ff48
--- /dev/null
+++ b/wpiutil/src/main/native/macOS/MulticastServiceAnnouncer.cpp
@@ -0,0 +1,86 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/MulticastServiceAnnouncer.h"
+
+#include <wpi/SmallString.h>
+
+#include "dns_sd.h"
+
+using namespace wpi;
+
+struct MulticastServiceAnnouncer::Impl {
+ std::string serviceName;
+ std::string serviceType;
+ int port;
+ DNSServiceRef serviceRef{nullptr};
+ TXTRecordRef txtRecord;
+
+ Impl() { TXTRecordCreate(&txtRecord, 0, nullptr); }
+
+ ~Impl() noexcept { TXTRecordDeallocate(&txtRecord); }
+};
+
+MulticastServiceAnnouncer::MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string, std::string>> txt) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->serviceName = serviceName;
+ pImpl->serviceType = serviceType;
+ pImpl->port = port;
+
+ for (auto&& i : txt) {
+ TXTRecordSetValue(&pImpl->txtRecord, i.first.c_str(), i.second.length(),
+ i.second.c_str());
+ }
+}
+
+MulticastServiceAnnouncer::MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string_view, std::string_view>> txt) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->serviceName = serviceName;
+ pImpl->serviceType = serviceType;
+ pImpl->port = port;
+
+ wpi::SmallString<64> key;
+
+ for (auto&& i : txt) {
+ key.clear();
+ key.append(i.first);
+ key.emplace_back('\0');
+
+ TXTRecordSetValue(&pImpl->txtRecord, key.data(), i.second.length(),
+ i.second.data());
+ }
+}
+
+MulticastServiceAnnouncer::~MulticastServiceAnnouncer() noexcept {
+ Stop();
+}
+
+bool MulticastServiceAnnouncer::HasImplementation() const {
+ return true;
+}
+
+void MulticastServiceAnnouncer::Start() {
+ if (pImpl->serviceRef) {
+ return;
+ }
+
+ uint16_t len = TXTRecordGetLength(&pImpl->txtRecord);
+ const void* ptr = TXTRecordGetBytesPtr(&pImpl->txtRecord);
+
+ (void)DNSServiceRegister(&pImpl->serviceRef, 0, 0, pImpl->serviceName.c_str(),
+ pImpl->serviceType.c_str(), "local", nullptr,
+ htons(pImpl->port), len, ptr, nullptr, nullptr);
+}
+
+void MulticastServiceAnnouncer::Stop() {
+ if (!pImpl->serviceRef) {
+ return;
+ }
+ DNSServiceRefDeallocate(pImpl->serviceRef);
+ pImpl->serviceRef = nullptr;
+}
diff --git a/wpiutil/src/main/native/macOS/MulticastServiceResolver.cpp b/wpiutil/src/main/native/macOS/MulticastServiceResolver.cpp
new file mode 100644
index 0000000..4af8cad
--- /dev/null
+++ b/wpiutil/src/main/native/macOS/MulticastServiceResolver.cpp
@@ -0,0 +1,213 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/MulticastServiceResolver.h"
+
+#include <netinet/in.h>
+#include <poll.h>
+
+#include <atomic>
+#include <thread>
+#include <vector>
+
+#include "ResolverThread.h"
+#include "dns_sd.h"
+#include "wpi/SmallVector.h"
+
+using namespace wpi;
+
+struct DnsResolveState {
+ DnsResolveState(MulticastServiceResolver::Impl* impl,
+ std::string_view serviceNameView)
+ : pImpl{impl} {
+ data.serviceName = serviceNameView;
+ }
+
+ DNSServiceRef ResolveRef = nullptr;
+ MulticastServiceResolver::Impl* pImpl;
+
+ MulticastServiceResolver::ServiceData data;
+};
+
+struct MulticastServiceResolver::Impl {
+ std::string serviceType;
+ MulticastServiceResolver* resolver;
+ std::shared_ptr<ResolverThread> thread = ResolverThread::Get();
+ std::vector<std::unique_ptr<DnsResolveState>> ResolveStates;
+ DNSServiceRef serviceRef = nullptr;
+
+ void onFound(ServiceData&& data) {
+ resolver->PushData(std::forward<ServiceData>(data));
+ }
+};
+
+MulticastServiceResolver::MulticastServiceResolver(
+ std::string_view serviceType) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->serviceType = serviceType;
+ pImpl->resolver = this;
+}
+
+MulticastServiceResolver::~MulticastServiceResolver() noexcept {
+ Stop();
+}
+
+void ServiceGetAddrInfoReply(DNSServiceRef sdRef, DNSServiceFlags flags,
+ uint32_t interfaceIndex,
+ DNSServiceErrorType errorCode,
+ const char* hostname,
+ const struct sockaddr* address, uint32_t ttl,
+ void* context) {
+ if (errorCode != kDNSServiceErr_NoError) {
+ return;
+ }
+
+ DnsResolveState* resolveState = static_cast<DnsResolveState*>(context);
+
+ resolveState->data.hostName = hostname;
+ resolveState->data.ipv4Address =
+ reinterpret_cast<const struct sockaddr_in*>(address)->sin_addr.s_addr;
+
+ resolveState->pImpl->onFound(std::move(resolveState->data));
+
+ resolveState->pImpl->thread->RemoveServiceRefInThread(
+ resolveState->ResolveRef);
+
+ resolveState->pImpl->ResolveStates.erase(std::find_if(
+ resolveState->pImpl->ResolveStates.begin(),
+ resolveState->pImpl->ResolveStates.end(),
+ [resolveState](auto& a) { return a.get() == resolveState; }));
+}
+
+void ServiceResolveReply(DNSServiceRef sdRef, DNSServiceFlags flags,
+ uint32_t interfaceIndex, DNSServiceErrorType errorCode,
+ const char* fullname, const char* hosttarget,
+ uint16_t port, /* In network byte order */
+ uint16_t txtLen, const unsigned char* txtRecord,
+ void* context) {
+ if (errorCode != kDNSServiceErr_NoError) {
+ return;
+ }
+
+ DnsResolveState* resolveState = static_cast<DnsResolveState*>(context);
+ resolveState->pImpl->thread->RemoveServiceRefInThread(
+ resolveState->ResolveRef);
+ DNSServiceRefDeallocate(resolveState->ResolveRef);
+ resolveState->ResolveRef = nullptr;
+ resolveState->data.port = ntohs(port);
+
+ int txtCount = TXTRecordGetCount(txtLen, txtRecord);
+ char keyBuf[256];
+ uint8_t valueLen;
+ const void* value;
+
+ for (int i = 0; i < txtCount; i++) {
+ errorCode = TXTRecordGetItemAtIndex(txtLen, txtRecord, i, sizeof(keyBuf),
+ keyBuf, &valueLen, &value);
+ if (errorCode == kDNSServiceErr_NoError) {
+ if (valueLen == 0) {
+ // No value
+ resolveState->data.txt.emplace_back(
+ std::pair<std::string, std::string>{std::string{keyBuf}, {}});
+ } else {
+ resolveState->data.txt.emplace_back(std::pair<std::string, std::string>{
+ std::string{keyBuf},
+ std::string{reinterpret_cast<const char*>(value), valueLen}});
+ }
+ }
+ }
+
+ errorCode = DNSServiceGetAddrInfo(
+ &resolveState->ResolveRef, flags, interfaceIndex,
+ kDNSServiceProtocol_IPv4, hosttarget, ServiceGetAddrInfoReply, context);
+
+ if (errorCode == kDNSServiceErr_NoError) {
+ dnssd_sock_t socket = DNSServiceRefSockFD(resolveState->ResolveRef);
+ resolveState->pImpl->thread->AddServiceRef(resolveState->ResolveRef,
+ socket);
+ } else {
+ resolveState->pImpl->thread->RemoveServiceRefInThread(
+ resolveState->ResolveRef);
+ resolveState->pImpl->ResolveStates.erase(std::find_if(
+ resolveState->pImpl->ResolveStates.begin(),
+ resolveState->pImpl->ResolveStates.end(),
+ [resolveState](auto& a) { return a.get() == resolveState; }));
+ }
+}
+
+static void DnsCompletion(DNSServiceRef sdRef, DNSServiceFlags flags,
+ uint32_t interfaceIndex,
+ DNSServiceErrorType errorCode,
+ const char* serviceName, const char* regtype,
+ const char* replyDomain, void* context) {
+ if (errorCode != kDNSServiceErr_NoError) {
+ return;
+ }
+ if (!(flags & kDNSServiceFlagsAdd)) {
+ return;
+ }
+
+ MulticastServiceResolver::Impl* impl =
+ static_cast<MulticastServiceResolver::Impl*>(context);
+ auto& resolveState = impl->ResolveStates.emplace_back(
+ std::make_unique<DnsResolveState>(impl, serviceName));
+
+ errorCode = DNSServiceResolve(&resolveState->ResolveRef, 0, interfaceIndex,
+ serviceName, regtype, replyDomain,
+ ServiceResolveReply, resolveState.get());
+
+ if (errorCode == kDNSServiceErr_NoError) {
+ dnssd_sock_t socket = DNSServiceRefSockFD(resolveState->ResolveRef);
+ resolveState->pImpl->thread->AddServiceRef(resolveState->ResolveRef,
+ socket);
+ } else {
+ resolveState->pImpl->ResolveStates.erase(std::find_if(
+ resolveState->pImpl->ResolveStates.begin(),
+ resolveState->pImpl->ResolveStates.end(),
+ [r = resolveState.get()](auto& a) { return a.get() == r; }));
+ }
+}
+
+bool MulticastServiceResolver::HasImplementation() const {
+ return true;
+}
+
+void MulticastServiceResolver::Start() {
+ if (pImpl->serviceRef) {
+ return;
+ }
+
+ DNSServiceErrorType status =
+ DNSServiceBrowse(&pImpl->serviceRef, 0, 0, pImpl->serviceType.c_str(),
+ "local", DnsCompletion, pImpl.get());
+ if (status == kDNSServiceErr_NoError) {
+ dnssd_sock_t socket = DNSServiceRefSockFD(pImpl->serviceRef);
+ pImpl->thread->AddServiceRef(pImpl->serviceRef, socket);
+ }
+}
+
+void MulticastServiceResolver::Stop() {
+ if (!pImpl->serviceRef) {
+ return;
+ }
+ wpi::SmallVector<WPI_EventHandle, 8> cleanupEvents;
+ for (auto&& i : pImpl->ResolveStates) {
+ cleanupEvents.push_back(
+ pImpl->thread->RemoveServiceRefOutsideThread(i->ResolveRef));
+ }
+ cleanupEvents.push_back(
+ pImpl->thread->RemoveServiceRefOutsideThread(pImpl->serviceRef));
+ wpi::SmallVector<WPI_Handle, 8> signaledBuf;
+ signaledBuf.resize(cleanupEvents.size());
+ while (!cleanupEvents.empty()) {
+ auto signaled = wpi::WaitForObjects(cleanupEvents, signaledBuf);
+ for (auto&& s : signaled) {
+ cleanupEvents.erase(
+ std::find(cleanupEvents.begin(), cleanupEvents.end(), s));
+ }
+ }
+
+ pImpl->ResolveStates.clear();
+ pImpl->serviceRef = nullptr;
+}
diff --git a/wpiutil/src/main/native/macOS/ResolverThread.cpp b/wpiutil/src/main/native/macOS/ResolverThread.cpp
new file mode 100644
index 0000000..b91d6b6
--- /dev/null
+++ b/wpiutil/src/main/native/macOS/ResolverThread.cpp
@@ -0,0 +1,109 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "ResolverThread.h"
+
+#include "wpi/mutex.h"
+
+using namespace wpi;
+
+ResolverThread::ResolverThread(const private_init&) {}
+
+ResolverThread::~ResolverThread() noexcept {
+ running = false;
+ if (thread.joinable()) {
+ thread.join();
+ }
+}
+
+void ResolverThread::AddServiceRef(DNSServiceRef serviceRef,
+ dnssd_sock_t socket) {
+ std::scoped_lock lock{serviceRefMutex};
+ serviceRefs.emplace_back(
+ std::pair<DNSServiceRef, dnssd_sock_t>{serviceRef, socket});
+ if (serviceRefs.size() == 1) {
+ running = false;
+ if (thread.joinable()) {
+ thread.join();
+ }
+ running = true;
+ thread = std::thread([=] { ThreadMain(); });
+ }
+}
+
+void ResolverThread::RemoveServiceRefInThread(DNSServiceRef serviceRef) {
+ std::scoped_lock lock{serviceRefMutex};
+ serviceRefs.erase(
+ std::find_if(serviceRefs.begin(), serviceRefs.end(),
+ [=](auto& a) { return a.first == serviceRef; }));
+ DNSServiceRefDeallocate(serviceRef);
+}
+
+WPI_EventHandle ResolverThread::RemoveServiceRefOutsideThread(
+ DNSServiceRef serviceRef) {
+ std::scoped_lock lock{serviceRefMutex};
+ WPI_EventHandle handle = CreateEvent(true);
+ serviceRefsToRemove.push_back({serviceRef, handle});
+ return handle;
+}
+
+bool ResolverThread::CleanupRefs() {
+ std::scoped_lock lock{serviceRefMutex};
+ for (auto&& r : serviceRefsToRemove) {
+ serviceRefs.erase(
+ std::find_if(serviceRefs.begin(), serviceRefs.end(),
+ [=](auto& a) { return a.first == r.first; }));
+ DNSServiceRefDeallocate(r.first);
+ wpi::SetEvent(r.second);
+ }
+ serviceRefsToRemove.clear();
+ return serviceRefs.empty();
+}
+
+void ResolverThread::ThreadMain() {
+ std::vector<pollfd> readSockets;
+ std::vector<DNSServiceRef> serviceRefs;
+
+ while (running) {
+ readSockets.clear();
+ serviceRefs.clear();
+
+ for (auto&& i : this->serviceRefs) {
+ readSockets.emplace_back(pollfd{i.second, POLLIN, 0});
+ serviceRefs.emplace_back(i.first);
+ }
+
+ int res = poll(readSockets.begin().base(), readSockets.size(), 100);
+
+ if (res > 0) {
+ for (size_t i = 0; i < readSockets.size(); i++) {
+ if (readSockets[i].revents == POLLIN) {
+ DNSServiceProcessResult(serviceRefs[i]);
+ }
+ }
+ } else if (res == 0) {
+ if (!running) {
+ CleanupRefs();
+ break;
+ }
+ }
+
+ if (CleanupRefs()) {
+ break;
+ }
+ }
+}
+
+static wpi::mutex ThreadLoopLock;
+static std::weak_ptr<ResolverThread> ThreadLoop;
+
+std::shared_ptr<ResolverThread> ResolverThread::Get() {
+ std::scoped_lock lock{ThreadLoopLock};
+ auto locked = ThreadLoop.lock();
+ if (!locked) {
+ locked = std::make_unique<ResolverThread>(private_init{});
+ ThreadLoop = locked;
+ }
+ return locked;
+}
diff --git a/wpiutil/src/main/native/macOS/ResolverThread.h b/wpiutil/src/main/native/macOS/ResolverThread.h
new file mode 100644
index 0000000..0162de5
--- /dev/null
+++ b/wpiutil/src/main/native/macOS/ResolverThread.h
@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <netinet/in.h>
+#include <poll.h>
+
+#include <atomic>
+#include <memory>
+#include <thread>
+#include <utility>
+#include <vector>
+
+#include "dns_sd.h"
+#include "wpi/Synchronization.h"
+#include "wpi/mutex.h"
+
+namespace wpi {
+class ResolverThread {
+ private:
+ struct private_init {};
+
+ public:
+ explicit ResolverThread(const private_init&);
+ ~ResolverThread() noexcept;
+
+ void AddServiceRef(DNSServiceRef serviceRef, dnssd_sock_t socket);
+ void RemoveServiceRefInThread(DNSServiceRef serviceRef);
+ WPI_EventHandle RemoveServiceRefOutsideThread(DNSServiceRef serviceRef);
+
+ static std::shared_ptr<ResolverThread> Get();
+
+ private:
+ void ThreadMain();
+ bool CleanupRefs();
+
+ wpi::mutex serviceRefMutex;
+ std::vector<std::pair<DNSServiceRef, WPI_EventHandle>> serviceRefsToRemove;
+ std::vector<std::pair<DNSServiceRef, dnssd_sock_t>> serviceRefs;
+ std::thread thread;
+ std::atomic_bool running;
+};
+} // namespace wpi