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/windows/DynamicDns.cpp b/wpiutil/src/main/native/windows/DynamicDns.cpp
new file mode 100644
index 0000000..c59d554
--- /dev/null
+++ b/wpiutil/src/main/native/windows/DynamicDns.cpp
@@ -0,0 +1,41 @@
+// 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 "DynamicDns.h"
+
+using namespace wpi;
+
+DynamicDns& DynamicDns::GetDynamicDns() {
+ static DynamicDns dns;
+ return dns;
+}
+
+DynamicDns::DynamicDns() {
+ HMODULE library = LoadLibraryW(L"dnsapi");
+
+ if (library == nullptr) {
+ return;
+ }
+
+ DnsServiceFreeInstancePtr = (DnsServiceFreeInstanceFunc)GetProcAddress(
+ library, "DnsServiceFreeInstance");
+ DnsServiceConstructInstancePtr =
+ (DnsServiceConstructInstanceFunc)GetProcAddress(
+ library, "DnsServiceConstructInstance");
+ DnsServiceRegisterPtr =
+ (DnsServiceRegisterFunc)GetProcAddress(library, "DnsServiceRegister");
+ DnsServiceDeRegisterPtr =
+ (DnsServiceDeRegisterFunc)GetProcAddress(library, "DnsServiceDeRegister");
+
+ CanDnsAnnounce = DnsServiceFreeInstancePtr &&
+ DnsServiceConstructInstancePtr && DnsServiceRegisterPtr &&
+ DnsServiceDeRegisterPtr;
+
+ DnsServiceBrowsePtr =
+ (DnsServiceBrowseFunc)GetProcAddress(library, "DnsServiceBrowse");
+ DnsServiceBrowseCancelPtr = (DnsServiceBrowseCancelFunc)GetProcAddress(
+ library, "DnsServiceBrowseCancel");
+
+ CanDnsResolve = DnsServiceBrowsePtr && DnsServiceBrowseCancelPtr;
+}
diff --git a/wpiutil/src/main/native/windows/DynamicDns.h b/wpiutil/src/main/native/windows/DynamicDns.h
new file mode 100644
index 0000000..c8bee04
--- /dev/null
+++ b/wpiutil/src/main/native/windows/DynamicDns.h
@@ -0,0 +1,59 @@
+// 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
+
+#ifndef UNICODE
+#define UNICODE
+#endif
+
+#include <windows.h>
+
+#include <WinDNS.h>
+
+namespace wpi {
+class DynamicDns {
+ public:
+ using DnsServiceFreeInstanceFunc =
+ VOID(WINAPI*)(_In_ PDNS_SERVICE_INSTANCE pInstance);
+
+ using DnsServiceConstructInstanceFunc = PDNS_SERVICE_INSTANCE(WINAPI*)(
+ _In_ PCWSTR pServiceName, _In_ PCWSTR pHostName,
+ _In_opt_ PIP4_ADDRESS pIp4, _In_opt_ PIP6_ADDRESS pIp6, _In_ WORD wPort,
+ _In_ WORD wPriority, _In_ WORD wWeight, _In_ DWORD dwPropertiesCount,
+ _In_reads_(dwPropertiesCount) PCWSTR* keys,
+ _In_reads_(dwPropertiesCount) PCWSTR* values);
+
+ using DnsServiceRegisterFunc =
+ DWORD(WINAPI*)(_In_ PDNS_SERVICE_REGISTER_REQUEST pRequest,
+ _Inout_opt_ PDNS_SERVICE_CANCEL pCancel);
+
+ using DnsServiceDeRegisterFunc =
+ DWORD(WINAPI*)(_In_ PDNS_SERVICE_REGISTER_REQUEST pRequest,
+ _Inout_opt_ PDNS_SERVICE_CANCEL pCancel);
+
+ using DnsServiceBrowseFunc =
+ DNS_STATUS(WINAPI*)(_In_ PDNS_SERVICE_BROWSE_REQUEST pRequest,
+ _Inout_ PDNS_SERVICE_CANCEL pCancel);
+
+ using DnsServiceBrowseCancelFunc =
+ DNS_STATUS(WINAPI*)(_In_ PDNS_SERVICE_CANCEL pCancelHandle);
+
+ DnsServiceBrowseFunc DnsServiceBrowsePtr{nullptr};
+ DnsServiceBrowseCancelFunc DnsServiceBrowseCancelPtr{nullptr};
+
+ DnsServiceFreeInstanceFunc DnsServiceFreeInstancePtr{nullptr};
+ DnsServiceConstructInstanceFunc DnsServiceConstructInstancePtr{nullptr};
+ DnsServiceRegisterFunc DnsServiceRegisterPtr{nullptr};
+ DnsServiceDeRegisterFunc DnsServiceDeRegisterPtr{nullptr};
+
+ bool CanDnsAnnounce{false};
+ bool CanDnsResolve{false};
+
+ static DynamicDns& GetDynamicDns();
+
+ private:
+ DynamicDns();
+};
+} // namespace wpi
diff --git a/wpiutil/src/main/native/windows/MulticastServiceAnnouncer.cpp b/wpiutil/src/main/native/windows/MulticastServiceAnnouncer.cpp
new file mode 100644
index 0000000..2327b8b
--- /dev/null
+++ b/wpiutil/src/main/native/windows/MulticastServiceAnnouncer.cpp
@@ -0,0 +1,212 @@
+// 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.
+
+#ifndef UNICODE
+#define UNICODE
+#endif
+
+#include "wpi/MulticastServiceAnnouncer.h"
+
+#include <string>
+#include <vector>
+
+#include "DynamicDns.h"
+#include "wpi/ConvertUTF.h"
+#include "wpi/SmallString.h"
+#include "wpi/SmallVector.h"
+#include "wpi/StringExtras.h"
+#include "wpi/hostname.h"
+
+using namespace wpi;
+
+struct ImplBase {
+ wpi::DynamicDns& dynamicDns = wpi::DynamicDns::GetDynamicDns();
+ PDNS_SERVICE_INSTANCE serviceInstance = nullptr;
+ HANDLE event = nullptr;
+};
+
+struct MulticastServiceAnnouncer::Impl : ImplBase {
+ std::wstring serviceType;
+ std::wstring serviceInstanceName;
+ std::wstring hostName;
+ int port;
+ std::vector<std::wstring> keys;
+ std::vector<PCWSTR> keyPtrs;
+ std::vector<std::wstring> values;
+ std::vector<PCWSTR> valuePtrs;
+
+ template <typename T>
+ Impl(std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<T, T>> txt);
+};
+
+template <typename T>
+MulticastServiceAnnouncer::Impl::Impl(std::string_view serviceName,
+ std::string_view serviceType, int port,
+ wpi::span<const std::pair<T, T>> txt) {
+ if (!dynamicDns.CanDnsAnnounce) {
+ return;
+ }
+
+ this->port = port;
+
+ wpi::SmallVector<wchar_t, 128> wideStorage;
+ std::string hostName = wpi::GetHostname() + ".local";
+
+ for (auto&& i : txt) {
+ wideStorage.clear();
+ wpi::sys::windows::UTF8ToUTF16(i.first, wideStorage);
+ this->keys.emplace_back(
+ std::wstring{wideStorage.data(), wideStorage.size()});
+ wideStorage.clear();
+ wpi::sys::windows::UTF8ToUTF16(i.second, wideStorage);
+ this->values.emplace_back(
+ std::wstring{wideStorage.data(), wideStorage.size()});
+ }
+
+ for (size_t i = 0; i < this->keys.size(); i++) {
+ this->keyPtrs.emplace_back(this->keys[i].c_str());
+ this->valuePtrs.emplace_back(this->values[i].c_str());
+ }
+
+ wpi::SmallString<128> storage;
+
+ wideStorage.clear();
+ wpi::sys::windows::UTF8ToUTF16(hostName, wideStorage);
+
+ this->hostName = std::wstring{wideStorage.data(), wideStorage.size()};
+
+ wideStorage.clear();
+ if (wpi::ends_with_lower(serviceType, ".local")) {
+ wpi::sys::windows::UTF8ToUTF16(serviceType, wideStorage);
+ } else {
+ storage.clear();
+ storage.append(serviceType);
+ storage.append(".local");
+ wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+ }
+ this->serviceType = std::wstring{wideStorage.data(), wideStorage.size()};
+
+ wideStorage.clear();
+ storage.clear();
+ storage.append(serviceName);
+ storage.append(".");
+ storage.append(serviceType);
+ if (!wpi::ends_with_lower(serviceType, ".local")) {
+ storage.append(".local");
+ }
+
+ wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+ this->serviceInstanceName =
+ std::wstring{wideStorage.data(), wideStorage.size()};
+}
+
+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>(serviceName, serviceType, port, txt);
+}
+
+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>(serviceName, serviceType, port, txt);
+}
+
+MulticastServiceAnnouncer::~MulticastServiceAnnouncer() noexcept {
+ Stop();
+}
+
+bool MulticastServiceAnnouncer::HasImplementation() const {
+ return pImpl->dynamicDns.CanDnsAnnounce;
+}
+
+static void WINAPI DnsServiceRegisterCallback(DWORD /*Status*/,
+ PVOID pQueryContext,
+ PDNS_SERVICE_INSTANCE pInstance) {
+ ImplBase* impl = reinterpret_cast<ImplBase*>(pQueryContext);
+
+ impl->serviceInstance = pInstance;
+
+ SetEvent(impl->event);
+}
+
+void MulticastServiceAnnouncer::Start() {
+ if (pImpl->serviceInstance) {
+ return;
+ }
+
+ if (!pImpl->dynamicDns.CanDnsAnnounce) {
+ return;
+ }
+
+ PDNS_SERVICE_INSTANCE serviceInst =
+ pImpl->dynamicDns.DnsServiceConstructInstancePtr(
+ pImpl->serviceInstanceName.c_str(), pImpl->hostName.c_str(), nullptr,
+ nullptr, pImpl->port, 0, 0, static_cast<DWORD>(pImpl->keyPtrs.size()),
+ pImpl->keyPtrs.data(), pImpl->valuePtrs.data());
+ if (serviceInst == nullptr) {
+ return;
+ }
+
+ DNS_SERVICE_REGISTER_REQUEST registerRequest = {};
+ registerRequest.pQueryContext = static_cast<ImplBase*>(pImpl.get());
+ registerRequest.pRegisterCompletionCallback = DnsServiceRegisterCallback;
+ registerRequest.Version = DNS_QUERY_REQUEST_VERSION1;
+ registerRequest.unicastEnabled = false;
+ registerRequest.pServiceInstance = serviceInst;
+ registerRequest.InterfaceIndex = 0;
+
+ pImpl->event = CreateEvent(NULL, true, false, NULL);
+
+ if (pImpl->dynamicDns.DnsServiceRegisterPtr(®isterRequest, nullptr) ==
+ DNS_REQUEST_PENDING) {
+ WaitForSingleObject(pImpl->event, INFINITE);
+ }
+
+ pImpl->dynamicDns.DnsServiceFreeInstancePtr(serviceInst);
+ CloseHandle(pImpl->event);
+ pImpl->event = nullptr;
+}
+
+static void WINAPI DnsServiceDeRegisterCallback(
+ DWORD /*Status*/, PVOID pQueryContext, PDNS_SERVICE_INSTANCE pInstance) {
+ ImplBase* impl = reinterpret_cast<ImplBase*>(pQueryContext);
+
+ if (pInstance != nullptr) {
+ impl->dynamicDns.DnsServiceFreeInstancePtr(pInstance);
+ pInstance = nullptr;
+ }
+
+ SetEvent(impl->event);
+}
+
+void MulticastServiceAnnouncer::Stop() {
+ if (!pImpl->dynamicDns.CanDnsAnnounce) {
+ return;
+ }
+
+ if (pImpl->serviceInstance == nullptr) {
+ return;
+ }
+
+ pImpl->event = CreateEvent(NULL, true, false, NULL);
+ DNS_SERVICE_REGISTER_REQUEST registerRequest = {};
+ registerRequest.pQueryContext = static_cast<ImplBase*>(pImpl.get());
+ registerRequest.pRegisterCompletionCallback = DnsServiceDeRegisterCallback;
+ registerRequest.Version = DNS_QUERY_REQUEST_VERSION1;
+ registerRequest.unicastEnabled = false;
+ registerRequest.pServiceInstance = pImpl->serviceInstance;
+ registerRequest.InterfaceIndex = 0;
+
+ if (pImpl->dynamicDns.DnsServiceDeRegisterPtr(®isterRequest, nullptr) ==
+ DNS_REQUEST_PENDING) {
+ WaitForSingleObject(pImpl->event, INFINITE);
+ }
+
+ pImpl->dynamicDns.DnsServiceFreeInstancePtr(pImpl->serviceInstance);
+ pImpl->serviceInstance = nullptr;
+ CloseHandle(pImpl->event);
+ pImpl->event = nullptr;
+}
diff --git a/wpiutil/src/main/native/windows/MulticastServiceResolver.cpp b/wpiutil/src/main/native/windows/MulticastServiceResolver.cpp
new file mode 100644
index 0000000..115b43f
--- /dev/null
+++ b/wpiutil/src/main/native/windows/MulticastServiceResolver.cpp
@@ -0,0 +1,205 @@
+// 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.
+
+#ifndef UNICODE
+#define UNICODE
+#endif
+
+#include "wpi/MulticastServiceResolver.h"
+
+#include <string>
+
+#include "DynamicDns.h"
+#include "wpi/ConvertUTF.h"
+#include "wpi/SmallString.h"
+#include "wpi/SmallVector.h"
+#include "wpi/StringExtras.h"
+
+#pragma comment(lib, "dnsapi")
+
+using namespace wpi;
+
+struct MulticastServiceResolver::Impl {
+ wpi::DynamicDns& dynamicDns = wpi::DynamicDns::GetDynamicDns();
+ std::wstring serviceType;
+ DNS_SERVICE_CANCEL serviceCancel{nullptr};
+
+ MulticastServiceResolver* resolver;
+
+ void onFound(ServiceData&& data) {
+ resolver->PushData(std::forward<ServiceData>(data));
+ }
+};
+
+MulticastServiceResolver::MulticastServiceResolver(
+ std::string_view serviceType) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->resolver = this;
+
+ if (!pImpl->dynamicDns.CanDnsResolve) {
+ return;
+ }
+
+ wpi::SmallVector<wchar_t, 128> wideStorage;
+
+ if (wpi::ends_with_lower(serviceType, ".local")) {
+ wpi::sys::windows::UTF8ToUTF16(serviceType, wideStorage);
+ } else {
+ wpi::SmallString<128> storage;
+ storage.append(serviceType);
+ storage.append(".local");
+ wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+ }
+ pImpl->serviceType = std::wstring{wideStorage.data(), wideStorage.size()};
+}
+
+MulticastServiceResolver::~MulticastServiceResolver() noexcept {
+ Stop();
+}
+
+bool MulticastServiceResolver::HasImplementation() const {
+ return pImpl->dynamicDns.CanDnsResolve;
+}
+
+static _Function_class_(DNS_QUERY_COMPLETION_ROUTINE) VOID WINAPI
+ DnsCompletion(_In_ PVOID pQueryContext,
+ _Inout_ PDNS_QUERY_RESULT pQueryResults) {
+ MulticastServiceResolver::Impl* impl =
+ reinterpret_cast<MulticastServiceResolver::Impl*>(pQueryContext);
+
+ wpi::SmallVector<DNS_RECORDW*, 4> PtrRecords;
+ wpi::SmallVector<DNS_RECORDW*, 4> SrvRecords;
+ wpi::SmallVector<DNS_RECORDW*, 4> TxtRecords;
+ wpi::SmallVector<DNS_RECORDW*, 4> ARecords;
+
+ {
+ DNS_RECORDW* current = pQueryResults->pQueryRecords;
+ while (current != nullptr) {
+ switch (current->wType) {
+ case DNS_TYPE_PTR:
+ PtrRecords.push_back(current);
+ break;
+ case DNS_TYPE_SRV:
+ SrvRecords.push_back(current);
+ break;
+ case DNS_TYPE_TEXT:
+ TxtRecords.push_back(current);
+ break;
+ case DNS_TYPE_A:
+ ARecords.push_back(current);
+ break;
+ }
+ current = current->pNext;
+ }
+ }
+
+ for (DNS_RECORDW* Ptr : PtrRecords) {
+ if (std::wstring_view{Ptr->pName} != impl->serviceType) {
+ continue;
+ }
+
+ std::wstring_view nameHost = Ptr->Data.Ptr.pNameHost;
+ DNS_RECORDW* foundSrv = nullptr;
+ for (DNS_RECORDW* Srv : SrvRecords) {
+ if (std::wstring_view{Srv->pName} == nameHost) {
+ foundSrv = Srv;
+ break;
+ }
+ }
+
+ if (!foundSrv) {
+ continue;
+ }
+
+ for (DNS_RECORDW* A : ARecords) {
+ if (std::wstring_view{A->pName} ==
+ std::wstring_view{foundSrv->Data.Srv.pNameTarget}) {
+ MulticastServiceResolver::ServiceData data;
+ wpi::SmallString<128> storage;
+ for (DNS_RECORDW* Txt : TxtRecords) {
+ if (std::wstring_view{Txt->pName} == nameHost) {
+ for (DWORD i = 0; i < Txt->Data.Txt.dwStringCount; i++) {
+ std::wstring_view wideView = Txt->Data.TXT.pStringArray[i];
+ size_t splitIndex = wideView.find(L'=');
+ if (splitIndex == wideView.npos) {
+ // Todo make this just do key
+ continue;
+ }
+ storage.clear();
+ wpi::span<const wpi::UTF16> wideStr{
+ reinterpret_cast<const wpi::UTF16*>(wideView.data()),
+ splitIndex};
+ wpi::convertUTF16ToUTF8String(wideStr, storage);
+ auto& pair = data.txt.emplace_back(
+ std::pair<std::string, std::string>{storage.string(), {}});
+ storage.clear();
+ wideStr = wpi::span<const wpi::UTF16>{
+ reinterpret_cast<const wpi::UTF16*>(wideView.data() +
+ splitIndex + 1),
+ wideView.size() - splitIndex - 1};
+ wpi::convertUTF16ToUTF8String(wideStr, storage);
+ pair.second = storage.string();
+ }
+ }
+ }
+
+ storage.clear();
+ wpi::span<const wpi::UTF16> wideHostName{
+ reinterpret_cast<const wpi::UTF16*>(A->pName), wcslen(A->pName)};
+ wpi::convertUTF16ToUTF8String(wideHostName, storage);
+ storage.append(".");
+
+ data.hostName = storage.string();
+ storage.clear();
+
+ int len = nameHost.find(impl->serviceType.c_str());
+ wpi::span<const wpi::UTF16> wideServiceName{
+ reinterpret_cast<const wpi::UTF16*>(nameHost.data()),
+ nameHost.size()};
+ if (len != nameHost.npos) {
+ wideServiceName = wideServiceName.subspan(0, len - 1);
+ }
+ wpi::convertUTF16ToUTF8String(wideServiceName, storage);
+
+ data.serviceName = storage.string();
+ data.port = foundSrv->Data.Srv.wPort;
+ data.ipv4Address = A->Data.A.IpAddress;
+
+ impl->onFound(std::move(data));
+ }
+ }
+ }
+ DnsFree(pQueryResults->pQueryRecords, DNS_FREE_TYPE::DnsFreeRecordList);
+}
+
+void MulticastServiceResolver::Start() {
+ if (pImpl->serviceCancel.reserved != nullptr) {
+ return;
+ }
+
+ if (!pImpl->dynamicDns.CanDnsResolve) {
+ return;
+ }
+
+ DNS_SERVICE_BROWSE_REQUEST request = {};
+ request.InterfaceIndex = 0;
+ request.pQueryContext = pImpl.get();
+ request.QueryName = pImpl->serviceType.c_str();
+ request.Version = 2;
+ request.pBrowseCallbackV2 = DnsCompletion;
+ pImpl->dynamicDns.DnsServiceBrowsePtr(&request, &pImpl->serviceCancel);
+}
+
+void MulticastServiceResolver::Stop() {
+ if (!pImpl->dynamicDns.CanDnsResolve) {
+ return;
+ }
+
+ if (pImpl->serviceCancel.reserved == nullptr) {
+ return;
+ }
+
+ pImpl->dynamicDns.DnsServiceBrowseCancelPtr(&pImpl->serviceCancel);
+ pImpl->serviceCancel.reserved = nullptr;
+}
diff --git a/wpiutil/src/main/native/windows/StackTrace.cpp b/wpiutil/src/main/native/windows/StackTrace.cpp
index 3e3ccfa..bab5f83 100644
--- a/wpiutil/src/main/native/windows/StackTrace.cpp
+++ b/wpiutil/src/main/native/windows/StackTrace.cpp
@@ -32,7 +32,7 @@
namespace wpi {
-std::string GetStackTrace(int offset) {
+std::string GetStackTraceDefault(int offset) {
// TODO: implement offset
std::string output;
StackTraceWalker walker(output);