Squashed 'third_party/allwpilib/' changes from 66b57f032..e473a00f9
e473a00f9 [wpiutil] Base64: Add unsigned span/vector variants (#3702)
52f2d580e [wpiutil] raw_uv_ostream: Add reset() (#3701)
d7b1e3576 [wpiutil] WebSocket: move std::function (#3700)
93799fbe9 [examples] Fix description of TrapezoidProfileSubsystem (#3699)
b84644740 [wpimath] Document pose estimator states, inputs, and outputs (#3698)
2dc35c139 [wpimath] Fix classpaths for JNI class loads (#3697)
2cb171f6f [docs] Set Doxygen extract_all to true and fix Doxygen failures (#3695)
a939cd9c8 [wpimath] Print uncontrollable/unobservable models in LQR and KF (#3694)
d5270d113 [wpimath] Clean up C++ StateSpaceUtil tests (#3692)
b20903960 [wpimath] Remove redundant discretization tests from StateSpaceUtilTest (#3689)
c0cb545b4 [wpilibc] Add deprecated Doxygen attribute to SpeedController (#3691)
35c9f66a7 [wpilib] Rename PneumaticsHub to PneumaticHub (#3686)
796d03d10 [wpiutil] Remove unused LLVM header (#3688)
8723caf78 [wpilibj] Make Java TrapezoidProfile.Constraints an immutable class (#3687)
187f50a34 [wpimath] Catch incorrect parameters to state-space models earlier (#3680)
8d04606c4 Replace instances of frc-characterization with SysId (NFC) (#3681)
b82d4f6e5 [hal, cscore, ntcore] Use WPI common handle type base
87e34967e [wpiutil] Add synchronization primitives
e32499c54 [wpiutil] Add ParallelTcpConnector (#3655)
aa0b49228 [wpilib] Remove redundant "quick turn" docs for curvature drive (NFC) (#3674)
57301a7f9 [hal] REVPH: Start closed-loop compressor control on init (#3673)
d1842ea8f [wpilib] Improve interrupt docs (NFC) (#3679)
558151061 [wpiutil] Add DsClient (#3654)
181723e57 Replace `.to<double>()` and `.template to<double>()` with `.value()` (#3667)
6bc1db44b [commands] Add pointer overload of AddRequirements (artf6003) (#3669)
737b57ed5 [wpimath] Update to drake v0.35.0 (#3665)
4d287d1ae [build] Upgrade WPIJREArtifact to JRE 2022-11.0.12u5 (#3666)
f26eb5ada [hal] Fix another typo (get -> gets) (NFC) (#3663)
94ed275ba [hal] Fix misspelling (numer -> number) (NFC) (#3662)
ac2f44da3 [wpiutil] uv: use move for std::function (#3653)
75fa1fbfb [wpiutil] json::serializer: Optimize construction (#3647)
5e689faea [wpiutil] Import MessagePack implementation (mpack) (#3650)
649a50b40 [wpiutil] Add LEB128 byte-by-byte reader (#3652)
e94397a97 [wpiutil] Move json_serializer.h to public headers (#3646)
4ec58724d [wpiutil] uv::Tcp: Clarify SetNoDelay documentation (#3649)
8cb294aa4 [wpiutil] WebSocket: Make Shutdown() public (#3651)
2b3a9a52b [wpiutil] json: Fix map iterator key() for std::string_view (#3645)
138cbb94b [wpiutil] uv::Async: Add direct call for no-parameter specialization (#3648)
e56d6dea8 [ci] Update testbench pool image to ubuntu-latest (#3643)
43f30e44e [build] Enable comments in doxygen source files (#3644)
9e6db17ef [build] Enable doxygen preprocessor expansion of WPI_DEPRECATED (#3642)
0e631ad2f Add WPILib version to issue template (#3641)
6229d8d2f [build] Docs: set case_sense_names to false (#3392)
4647d09b5 [docs] Fix Doxygen warnings, add CI docs lint job (#3639)
4ad3a5402 [hal] Fix PWM allocation channel (#3637)
05e5feac4 [docs] Fix brownout docs (NFC) (#3638)
67df469c5 [examples] Remove old command-based templates and examples (#3263)
689e9ccfb [hal, wpilib] Add brownout voltage configuration (#3632)
9cd4bc407 [docs] Add useLocal to avoid using installer artifacts (#3634)
61996c2bb [cscore] Fix Java direct callback notifications (#3631)
6d3dd99eb [build] Update to newest native-utils (#3633)
f0b484892 [wpiutil] Fix StringMap iterator equality check (#3629)
8352cbb7a Update development build instructions for 2022 (#3616)
6da08b71d [examples] Fix Intermediate Vision Java Example description (#3628)
5d99059bf [wpiutil] Remove optional.h (#3627)
fa41b106a [glass, wpiutil] Add missing format args (#3626)
4e3fd7d42 [build] Enable Zc:__cplusplus for Windows (#3625)
791d8354d [build] Suppress deprecation/removal warnings for old commands (#3618)
10f19e6fc [hal, wpilib] Add REV PneumaticsHub (#3600)
4c61a1305 [ntcore] Revert to per-element copy for toNative() (#3621)
7b3f62244 [wpiutil] SendableRegistry: Print exception stacktrace (#3620)
d347928e4 [hal] Use better error for when console out is enabled while attempting to use onboard serial port (#3622)
cc31079a1 [hal] Use setcap instead of setuid for setting thread priorities (#3613)
4676648b7 [wpimath] Upgrade to Drake v0.34.0 (#3607)
c7594c911 [build] Allow building wpilibc in cmake without cscore and opencv (#3605)
173cb7359 [wpilib] Add TimesliceRobot (#3502)
af295879f [hal] Set error status for I2C port out of range (#3603)
95dd20a15 [build] Enable spotbugs (#3601)
b65fce86b [wpilib] Remove Timer lock in wpilibj and update docs (#3602)
3b8d3bbcb Remove unused and add missing deprecated.h includes (#3599)
f9e976467 [examples] Rename DriveTrain classes to Drivetrain (#3594)
118a27be2 [wpilib] Add Timer tests (#3595)
59c89428e [wpilib] Deprecate Timer::HasPeriodPassed() (#3598)
202ca5e78 Force C++17 in .clang-format (#3597)
d6f185d8e Rename tests for consistency (#3592)
54ca474db [ci] Enable asan and tsan in CI for tests that pass (#3591)
1ca383b23 Add Debouncer (#3590)
179fde3a7 [build] Update to 2022 native utils and gradle 7 (#3588)
50198ffcf [examples] Add Mechanism2d visualization to Elevator Sim (#3587)
a446c2559 [examples] Synchronize C++ and Java Mechanism2d examples (#3589)
a7fb83103 [ci] clang-tidy: Generate compilation commands DB with Gradle (#3585)
4f5e0c9f8 [examples] Update ArmSimulation example to use Mechanism2d (#3572)
8164b91dc [CI] Print CMake test output on failure (#3583)
4d5fca27e [wpilib] Impove Mechanism2D documentation (NFC) (#3584)
fe59e4b9f Make C++ test names more consistent (#3586)
5c8868549 [wpilibc] Fix C++ MechanisimRoot2D to use same NT entries as Java/Glass (#3582)
9359431ba [wpimath] Clean up Eigen usage
72716f51c [wpimath] Upgrade to Eigen 3.4
382deef75 [wpimath] Explicitly export wpimath symbols
161e21173 [ntcore] Match standard handle layout, only allow 16 instances (#3577)
263a24811 [wpimath] Use jinja for codegen (#3574)
725251d29 [wpilib] Increase tolerances of DifferentialDriveSimTest (#3581)
4dff87301 [wpimath] Make LinearFilter::Factorial() constexpr (#3579)
60ede67ab [hal, wpilib] Switch PCM to be a single object that is allowed to be duplicated (#3475)
906bfc846 [build] Add CMake build support for sanitizers (#3576)
0d4f08ad9 [hal] Simplify string copy of joystick name (#3575)
a52bf87b7 [wpiutil] Add Java function package (#3570)
40c7645d6 [wpiutil] UidVector: Return old object from erase() (#3571)
5b886a23f [wpiutil] jni_util: Add size, operator[] to JArrayRef (#3569)
65797caa7 [sim] Fix halsim_ds_socket stringop overflow warning from GCC 10 (#3568)
66abb3988 [hal] Update runtime enum to allow selecting roborio 2 (#3565)
95a12e0ee [hal] UidSetter: Don't revert euid if its already current value (#3566)
27951442b [wpimath] Use external Eigen headers only (#3564)
c42e053ae [docs] Update to doxygen 1.9.2 (#3562)
e7048c8c8 [docs] Disable doxygen linking for common words that are also classes (#3563)
d8e0b6c97 [wpilibj] Fix java async interrupts (#3559)
5e6c34c61 Update to 2022 roborio image (#3537)
828f073eb [wpiutil] Fix uv::Buffer memory leaks caught by asan (#3555)
2dd5701ac [cscore] Fix mutex use-after-free in cscore test (#3557)
531439198 [ntcore] Fix NetworkTables memory leaks caught by asan (#3556)
3d9a4d585 [wpilibc] Fix AnalogTriggerOutput memory leak reported by asan (#3554)
54eda5928 [wpiutil] Ignore ubsan vptr upcast warning in SendableHelper moves (#3553)
5a4f75c9f [wpilib] Replace Speed controller comments with motor controller (NFC) (#3551)
7810f665f [wpiutil] Fix bug in uleb128 (#3540)
697e2dd33 [wpilib] Fix errant jaguar reference in comments (NFC) (#3550)
936c64ff5 [docs] Enable -linksource for javadocs (#3549)
1ea654954 [build] Upgrade CMake build to googletest 1.11.0 (#3548)
32d9949e4 [wpimath] Move controller tests to wpimath (#3541)
01ba56a8a [hal] Replace strncpy with memcpy (#3539)
e109c4251 [build] Rename makeSim flag to forceGazebo to better describe what it does (#3535)
e4c709164 [docs] Use a doxygen theme and add logo (#3533)
960b6e589 [wpimath] Fix Javadoc warning (#3532)
82eef8d5e [hal] Remove over current fault HAL functions from REV PDH (#3526)
aa3848b2c [wpimath] Move RobotDriveBase::ApplyDeadband() to MathUtil (#3529)
3b5d0d141 [wpimath] Add LinearFilter::BackwardFiniteDifference() (#3528)
c8fc715fe [wpimath] Upgrade drake files to v0.33.0 (#3531)
e5fe3a8e1 [build] Treat javadoc warnings as errors in CI and fix warnings (#3530)
e0c6cd3dc [wpimath] Add an operator for composing two Transform2ds (#3527)
2edd510ab [sim] Add sim wrappers for sensors that use SimDevice (#3517)
2b3e2ebc1 [hal] Fix HAL Notifier thread priority setting (#3522)
ab4cb5932 [gitignore] Update gitignore to ignore bazel / clion files (#3524)
57c8615af [build] Generate spotless patch on failure (#3523)
b90317321 Replace std::cout and std::cerr with fmt::print() (#3519)
10cc8b89c [hal] [wpilib] Add initial support for the REV PDH (#3503)
5d9ae3cdb [hal] Set HAL Notifier thread as RT by default (#3482)
192d251ee [wpilibcIntegrationTests] Properly disable DMA integration tests (#3514)
031962608 [wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345)
25f6f478a [wpilib] Rename DriverStation::IsOperatorControl() to IsTeleop() (#3505)
e80f09f84 [wpilibj] Add unit tests (#3501)
c159f91f0 [wpilib] Only read DS control word once in IterativeRobotBase (#3504)
eb790a74d Add rio development docs documenting myRobot deploy tasks (#3508)
e47451f5a [wpimath] Replace auto with Eigen types (#3511)
252b8c83b Remove Java formatting from build task in CI (#3507)
09666ff29 Shorten Gazebo CI build (#3506)
baf2e501d Update myRobot to use 2021 java (#3509)
5ac60f0a2 [wpilib] Remove IterativeRobotBase mode init prints (#3500)
fb2ee8ec3 [wpilib] Add TimedRobot functions for running code on mode exit (#3499)
94e0db796 [wpilibc] Add more unit tests (#3494)
b25324695 [wpilibj] Add units to parameter names (NFC) (#3497)
1ac73a247 [hal] Rename PowerDistributionPanel to PowerDistribution (#3466)
2014115bc [examples] frisbeebot: Fix typo and reflow comments (NFC) (#3498)
4a944dc39 [examples] Consistently use 0 for controller port (#3496)
3838cc4ec Use unicode characters in docs equations (#3487)
85748f2e6 [examples] Add C++ TankDrive example (#3493)
d7b8aa56d [wpilibj] Rename DriverStation In[Mode] functions to follow style guide (#3488)
16e096cf8 [build] Fix CMake Windows CI (#3490)
50af74c38 [wpimath] Clean up NumericalIntegration and add Discretization tests (#3489)
bfc209b12 Automate fmt update (#3486)
e7f9331e4 [build] Update to Doxygen 1.9.1 (#3008)
ab8e8aa2a [wpimath] Update drake with upstream (#3484)
1ef826d1d [wpimath] Fix IOException path in WPIMath JNI (#3485)
52bddaa97 [wpimath] Disable iostream support for units and enable fmtlib (#3481)
e4dc3908b [wpiutil] Upgrade to fmtlib 8.0.1 (#3483)
1daadb812 [wpimath] Implement Dormand-Prince integration method (#3476)
9c2723391 [cscore] Add [[nodiscard]] to GrabFrame functions (#3479)
7a8796414 [wpilib] Add Notifier integration tests (#3480)
f8f13c536 [wpilibcExamples] Prefix decimal numbers with 0 (#3478)
1adb69c0f [ntcore] Use "NetworkTables" instead of "Network Tables" in NT specs (#3477)
5f5830b96 Upload wpiformat diff if one exists (#3474)
9fb4f35bb [wpimath] Add tests for DARE overload with Q, R, and N matrices (#3472)
c002e6f92 Run wpiformat (#3473)
c154e5262 [wpilib] Make solenoids exclusive use, PCM act like old sendable compressor (#3464)
6ddef1cca [hal] JNI setDIO: use a boolean and not a short (#3469)
9d68d9582 Remove extra newlines after open curly braces (NFC) (#3471)
a4233e1a1 [wpimath] Add script for updating Drake (#3470)
39373c6d2 Update README.md for new GCC version requirement (#3467)
d29acc90a [wpigui] Add option to reset UI on exit (#3463)
a371235b0 [ntcore] Fix dangling pointer in logger (#3465)
53b4891a5 [wpilibcintegrationtests] Fix deprecated Preferences usage (#3461)
646ded912 [wpimath] Remove incorrect discretization in pose estimators (#3460)
ea0b8f48e Fix some deprecation warnings due to fmtlib upgrade (#3459)
2067d7e30 [wpilibjexamples] Add wpimathjni, wpiutiljni to library path (#3455)
866571ab4 [wpiutil] Upgrade to fmtlib 8.0.0 (#3457)
4e1fa0308 [build] Skip PDB copy on windows build servers (#3458)
b45572167 [build] Change CI back to 18.04 docker images (#3456)
57a160f1b [wpilibc] Fix LiveWindow deprecation warning in RobotBase skeleton template (#3454)
29ae8640d [HLT] Implement duty cycle cross connect tests (#3453)
ee6377e54 [HLT] Add relay and analog cross connects (#3452)
b0f1ae7ea [build] CMake: Build the HAL even if WITH_CSCORE=OFF (#3449)
7aae2b72d Replace std::to_string() with fmt::format() (#3451)
73fcbbd74 [HLT] Add relay digital cross connect tests (#3450)
e7bedde83 [HLT] Add PWM tests that use DMA as the back end (#3447)
7253edb1e [wpilibc] Timer: Fix deprecated warning (#3446)
efa28125c [wpilibc] Add message to RobotBase on how to read stacktrace (#3444)
9832fcfe1 [hal] Fix DIO direction getter (#3445)
49c71f9f2 [wpilibj] Clarify robot quit message (#3364)
791770cf6 [wpimath] Move controller from wpilibj to wpimath (#3439)
9ce9188ff [wpimath] Add ReportWarning to MathShared (#3441)
362066a9b [wpilib] Deprecate getInstance() in favor of static functions (#3440)
26ff9371d Initial commit of cross connect integration test project (#3434)
4a36f86c8 [hal] Add support for DMA to Java (#3158)
85144e47f [commands] Unbreak build (#3438)
b417d961e Split Sendable into NT and non-NT portions (#3432)
ef4ea84cb [commands] Change grouping decorator impl to flatten nested group structures (#3335)
b422665a3 [examples] Invert right side of drive subsystems (#3437)
186dadf14 [hal] Error if attempting to set DIO output on an input port (#3436)
04e64db94 Remove redundant C++ lambda parentheses (NFC) (#3433)
f60994ad2 [wpiutil] Rename Java package to edu.wpi.first.util (#3431)
cfa1ca96f [wpilibc] Make ShuffleboardValue non-copyable (#3430)
4d9ff7643 Fix documentation warnings generated by JavaDoc (NFC) (#3428)
9e1b7e046 [build] Fix clang-tidy and clang-format (#3429)
a77c6ff3a [build] Upgrade clang-format and clang-tidy (NFC) (#3422)
099fde97d [wpilib] Improve PDP comments (NFC) (#3427)
f8fc2463e [wpilibc, wpiutil] Clean up includes (NFC) (#3426)
e246b7884 [wpimath] Clean up member initialization in feedforward classes (#3425)
c1e128bd5 Disable frivolous PMD warnings and enable PMD in ntcore (#3419)
8284075ee Run "Lint and Format" CI job on push as well as pull request (#3412)
f7db09a12 [wpimath] Move C++ filters into filter folder to match Java (#3417)
f9c3d54bd [wpimath] Reset error covariance in pose estimator ResetPosition() (#3418)
0773f4033 [hal] Ensure HAL status variables are initialized to zero (#3421)
d068fb321 [build] Upgrade CI to use 20.04 docker images (#3420)
8d054c940 [wpiutil] Remove STLExtras.h
80f1d7921 [wpiutil] Split function_ref to a separate header
64f541325 Use wpi::span instead of wpi::ArrayRef across all libraries (#3414)
2abbbd9e7 [build] clang-tidy: Remove bugprone-exception-escape (#3415)
a5c471af7 [wpimath] Add LQR template specialization for 2x2 system
edd2f0232 [wpimath] Add DARE solver for Q, R, and N with LQR ctor overloads
b2c3b2dd8 Use std::string_view and fmtlib across all libraries (#3402)
4f1cecb8e [wpiutil] Remove Path.h (#3413)
b336eac34 [build] Publish halsim_ws_core to Maven
2a09f6fa4 [build] Also build sim modules as static libraries
0e702eb79 [hal] Add a unified PCM object (#3331)
dea841103 [wpimath] Add fmtlib formatter overloads for Eigen::Matrix and units (#3409)
82856cf81 [wpiutil] Improve wpi::circular_buffer iterators (#3410)
8aecda03e [wpilib] Fix a documentation typo (#3408)
5c817082a [wpilib] Remove InterruptableSensorBase and replace with interrupt classes (#2410)
15c521a7f [wpimath] Fix drivetrain system identification (#3406)
989de4a1b [build] Force all linker warnings to be fatal for rio builds (#3407)
d9eeb45b0 [wpilibc] Add units to Ultrasonic class API (#3403)
fe570e000 [wpiutil] Replace llvm filesystem with C++17 filesystem (#3401)
01dc0249d [wpimath] Move SlewRateLimiter from wpilib to wpimath (#3399)
93523d572 [wpilibc] Clean up integration tests (#3400)
4f7a4464d [wpiutil] Rewrite StringExtras for std::string_view (#3394)
e09293a15 [wpilibc] Transition C++ classes to units::second_t (#3396)
827b17a52 [build] Create run tasks for Glass and OutlineViewer (#3397)
a61037996 [wpiutil] Avoid MSVC warning on span include (#3393)
4e2c3051b [wpilibc] Use std::string_view instead of Twine (#3380)
50915cb7e [wpilibc] MotorSafety::GetDescription(): Return std::string (#3390)
f4e2d26d5 [wpilibc] Move NullDeleter from frc/Base.h to wpi/NullDeleter.h (#3387)
cb0051ae6 [wpilibc] SimDeviceSim: use fmtlib (#3389)
a238cec12 [wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383)
393bf23c0 [ntcore, cscore, wpiutil] Standardize template impl files on .inc extension (NFC) (#3124)
e7d9ba135 [sim] Disable flaky web server integration tests (#3388)
0a0003c11 [wpilibjExamples] Fix name of Java swerve drive pose estimator example (#3382)
7e1b27554 [wpilibc] Use default copies and moves when possible (#3381)
fb2a56e2d [wpilibc] Remove START_ROBOT_CLASS macro (#3384)
84218bfb4 [wpilibc] Remove frc namespace shim (#3385)
dd7824340 [wpilibc] Remove C++ compiler version static asserts (#3386)
484cf9c0e [wpimath] Suppress the -Wmaybe-uninitialized warning in Eigen (#3378)
a04d1b4f9 [wpilibc] DriverStation: Remove ReportError and ReportWarning
831c10bdf [wpilibc] Errors: Use fmtlib
87603e400 [wpiutil] Import fmtlib (#3375)
442621672 [wpiutil] Add ArrayRef/std::span/wpi::span implicit conversions
bc15b953b [wpiutil] Add std::span implementation
6d20b1204 [wpiutil] StringRef, Twine, raw_ostream: Add std::string_view support (#3373)
2385c2a43 [wpilibc] Remove Utility.h (#3376)
87384ea68 [wpilib] Fix PIDController continuous range error calculations (#3170)
04dae799a [wpimath] Add SimpleMotorFeedforward::Calculate(velocity, nextVelocity) overload (#3183)
0768c3903 [wpilib] DifferentialDrive: Remove right side inversion (#3340)
8dd8d4d2d [wpimath] Fix redundant nested math package introduced by #3316 (#3368)
49b06beed [examples] Add Field2d to RamseteController example (#3371)
4c562a445 [wpimath] Fix typo in comment of update_eigen.py (#3369)
fdbbf1188 [wpimath] Add script for updating Eigen
f1e64b349 [wpimath] Move Eigen unsupported folder into eigeninclude
224f3a05c [sim] Fix build error when building with GCC 11.1 (#3361)
ff56d6861 [wpilibj] Fix SpeedController deprecated warnings (#3360)
1873fbefb [examples] Fix Swerve and Mecanum examples (#3359)
80b479e50 [examples] Fix SwerveBot example to use unique encoder ports (#3358)
1f7c9adee [wpilibjExamples] Fix pose estimator examples (#3356)
9ebc3b058 [outlineviewer] Change default size to 600x400 (#3353)
e21b443a4 [build] Gradle: Make C++ examples runnable (#3348)
da590120c [wpilibj] Add MotorController.setVoltage default (#3347)
561d53885 [build] Update opencv to 4.5.2, imgui/implot to latest (#3344)
44ad67ca8 [wpilibj] Preferences: Add missing Deprecated annotation (#3343)
3fe8fc75a [wpilibc] Revert "Return reference from GetInstance" (#3342)
3cc2da332 Merge branch '2022'
a3cd90dd7 [wpimath] Fix classpath used by generate_numbers.py (#3339)
d6cfdd3ba [wpilib] Preferences: Deprecate Put* in favor of Set* (#3337)
ba08baabb [wpimath] Update Drake DARE solver to v0.29.0 (#3336)
497b712f6 [wpilib] Make IterativeRobotBase::m_period private with getter
f00dfed7a [wpilib] Remove IterativeRobot base class
3c0846168 [hal] Use last error reporting instead of PARAMETER_OUT_OF_RANGE (#3328)
5ef2b4fdc [wpilibj] Fix @deprecated warning for SerialPort constructor (#3329)
23d2326d1 [hal] Report previous allocation location for indexed resource duplicates (#3322)
e338f9f19 [build] Fix wpilibc runCpp task (#3327)
c8ff626fe [wpimath] Move Java classes to edu.wpi.first.math (#3316)
4e424d51f [wpilibj] DifferentialDrivetrainSim: Rename constants to match the style guide (#3312)
6b50323b0 [cscore] Use Lock2DSize if possible for Windows USB cameras (#3326)
65c148536 [wpilibc] Fix "control reaches end of non-void function" warning (#3324)
f99f62bee [wpiutil] uv Handle: Use malloc/free instead of new/delete (#3325)
365f5449c [wpimath] Fix MecanumDriveKinematics (#3266)
ff52f207c [glass, wpilib] Rewrite Mechanism2d (#3281)
ee0eed143 [wpimath] Add DCMotor factory function for Romi motors (#3319)
512738072 [hal] Add HAL_GetLastError to enable better error messages from HAL calls (#3320)
ced654880 [glass, outlineviewer] Update Mac icons to macOS 11 style (#3313)
936d3b9f8 [templates] Add Java template for educational robot (#3309)
6e31230ad [examples] Fix odometry update in SwerveControllerCommand example (#3310)
05ebe9318 Merge branch 'main' into 2022
aaf24e255 [wpilib] Fix initial heading behavior in HolonomicDriveController (#3290)
8d961dfd2 [wpilibc] Remove ErrorBase (#3306)
659b37ef9 [wpiutil] StackTrace: Include offset on Linux (#3305)
0abf6c904 [wpilib] Move motor controllers to motorcontrol package (#3302)
4630191fa [wpiutil] circular_buffer: Use value initialization instead of passing zero (#3303)
b7b178f49 [wpilib] Remove Potentiometer interface
687066af3 [wpilib] Remove GyroBase
6b168ab0c [wpilib] Remove PIDController, PIDOutput, PIDSource
948625de9 [wpimath] Document conversion from filter cutoff frequency to time constant (#3299)
3848eb8b1 [wpilibc] Fix flywhel -> flywheel typo in FlywheelSim (#3298)
3abe0b9d4 [cscore] Move java package to edu.wpi.first.cscore (#3294)
d7fabe81f [wpilib] Remove RobotDrive (#3295)
1dc81669c [wpilib] Remove GearTooth (#3293)
01d0e1260 [wpilib] Revert move of RomiGyro into main wpilibc/j (#3296)
397e569aa [ntcore] Remove "using wpi" from nt namespace
79267f9e6 [ntcore] Remove NetworkTable -> nt::NetworkTable shim
48ebe5736 [ntcore] Remove deprecated Java interfaces and classes
c2064c78b [ntcore] Remove deprecated ITable interfaces
36608a283 [ntcore] Remove deprecated C++ APIs
a1c87e1e1 [glass] LogView: Add "copy to clipboard" button (#3274)
fa7240a50 [wpimath] Fix typo in quintic spline basis matrix
ffb4d38e2 [wpimath] Add derivation for spline basis matrices
f57c188f2 [wpilib] Add AnalogEncoder(int) ctor (#3273)
8471c4fb2 [wpilib] FieldObject2d: Add setTrajectory() method (#3277)
c97acd18e [glass] Field2d enhancements (#3234)
ffb590bfc [wpilib] Fix Compressor sendable properties (#3269)
6137f98eb [hal] Rename SimValueCallback2 to SimValueCallback (#3212)
a6f653969 [hal] Move registerSimPeriodic functions to HAL package (#3211)
10c038d9b [glass] Plot: Fix window creation after removal (#3264)
2d2eaa3ef [wpigui] Ensure window will be initially visible (#3256)
4d28b1f0c [wpimath] Use JNI for trajectory serialization (#3257)
3de800a60 [wpimath] TrajectoryUtil.h: Comment formatting (NFC) (#3262)
eff592377 [glass] Plot: Don't overwrite series ID (#3260)
a79faace1 [wpilibc] Return reference from GetInstance (#3247)
9550777b9 [wpilib] PWMSpeedController: Use PWM by composition (#3248)
c8521a3c3 [glass] Plot: Set reasonable default window size (#3261)
d71eb2cf3 [glass] Plot: Show full source name as tooltip and in popup (#3255)
160fb740f [hal] Use std::lround() instead of adding 0.5 and truncating (#3012)
48e9f3951 [wpilibj] Remove wpilibj package CameraServer (#3213)
8afa596fd [wpilib] Remove deprecated Sendable functions and SendableBase (#3210)
d3e45c297 [wpimath] Make C++ geometry classes immutable (#3249)
2c98939c1 [glass] StringChooser: Don't call SameLine() at end
a18a7409f [glass] NTStringChooser: Clear value of deleted entries
2f19cf452 [glass] NetworkTablesHelper: listen to delete events
da96707dc Merge branch 'main' into 2022
c3a8bdc24 [build] Fix clang-tidy action (#3246)
21624ef27 Add ImGui OutlineViewer (#3220)
1032c9b91 [wpiutil] Unbreak wpi::Format on Windows (#3242)
2e07902d7 [glass] NTField2D: Fix name lookup (#3233)
6e23e1840 [wpilibc] Remove WPILib.h (#3235)
3e22e4506 [wpilib] Make KoP drivetrain simulation weight 60 lbs (#3228)
79d1bd6c8 [glass] NetworkTablesSetting: Allow disable of server option (#3227)
fe341a16f [examples] Use more logical elevator setpoints in GearsBot (#3198)
62abf46b3 [glass] NetworkTablesSettings: Don't block GUI (#3226)
a95a5e0d9 [glass] Move NetworkTablesSettings to libglassnt (#3224)
d6f6ceaba [build] Run Spotless formatter (NFC) (#3221)
0922f8af5 [commands] CommandScheduler.requiring(): Note return can be null (NFC) (#2934)
6812302ff [examples] Make DriveDistanceOffboard example work in sim (#3199)
f3f86b8e7 [wpimath] Add pose estimator overload for vision + std dev measurement (#3200)
1a2680b9e [wpilibj] Change CommandBase.withName() to return CommandBase (#3209)
435bbb6a8 [command] RamseteCommand: Output 0 if interrupted (#3216)
3cf44e0a5 [hal] Add function for changing HAL Notifier thread priority (#3218)
40b367513 [wpimath] Units.java: Add kg-lb conversions (#3203)
9f563d584 [glass] NT: Fix return value in StringToDoubleArray (#3208)
af4adf537 [glass] Auto-size plots to fit window (#3193)
2560146da [sim] GUI: Add option to show prefix in Other Devices (#3186)
eae3a6397 gitignore: Ignore .cache directory (#3196)
959611420 [wpilib] Require non-zero positive value for PIDController.period (#3175)
9522f2e8c [wpimath] Add methods to concatenate trajectories (#3139)
e42a0b6cf [wpimath] Rotation2d comment formatting (NFC) (#3162)
d1c7032de [wpimath] Fix order of setting gyro offset in pose estimators (#3176)
d241bc81a [sim] Add DoubleSolenoidSim and SolenoidSim classes (#3177)
cb7f39afa [wpilibc] Add RobotController::GetBatteryVoltage() to C++ (#3179)
99b5ad9eb [wpilibj] Fix warnings that are not unused variables or deprecation (#3161)
c14b23775 [build] Fixup doxygen generated include dirs to match what users would need (#3154)
d447c7dc3 [sim] Add SimDeviceSim ctor overloads (#3134)
247420c9c [build] Remove jcenter repo (#3157)
04b112e00 [build] Include debug info in plugin published artifacts (#3149)
be0ce9900 [examples] Use PWMSparkMax instead of PWMVictorSPX (#3156)
69e8d0b65 [wpilib] Move RomiGyro into main wpilibc/j (#3143)
94e685e1b [wpimath] Add custom residual support to EKF (#3148)
5899f3dd2 [sim] GUI: Make keyboard settings loading more robust (#3167)
f82aa1d56 [wpilib] Fix HolonomicDriveController atReference() behavior (#3163)
fe5c2cf4b [wpimath] Remove ControllerUtil.java (#3169)
43d40c6e9 [wpiutil] Suppress unchecked cast in CombinedRuntimeLoader (#3155)
3d44d8f79 [wpimath] Fix argument order in UKF docs (NFC) (#3147)
ba6fe8ff2 [cscore] Add USB camera change event (#3123)
533725888 [build] Tweak OpenCV cmake search paths to work better on Linux (#3144)
29bf9d6ef [cscore] Add polled support to listener
483beb636 [ntcore] Move CallbackManager to wpiutil
fdaec7759 [examples] Instantiate m_ramseteController in example (#3142)
8494a5761 Rename default branch to main (#3140)
45590eea2 [wpigui] Hardcode window scale to 1 on macOS (#3135)
834a64920 [build] Publish libglass and libglassnt to Maven (#3127)
2c2ccb361 [wpimath] Fix Rotation2d equality operator (#3128)
fb5c8c39a [wpigui] clang-tidy: readability-braces-around-statements
f7d39193a [wpigui] Fix copyright in pfd and wpigui_metal.mm
aec796b21 [ntcore] Fix conditional jump on uninitialized value (#3125)
fb13bb239 [sim] GUI: Add right click popup for keyboard joystick settings (#3119)
c517ec677 [build] Update thirdparty-imgui to 1.79-2 (#3118)
e8cbf2a71 [wpimath] Fix typo in SwerveDrivePoseEstimator doc (NFC) (#3112)
e9c86df46 [wpimath] Add tests for swerve module optimization (#3100)
6ba8c289c [examples] Remove negative of ArcadeDrive(fwd, ..) in the C++ Getting Started Example (#3102)
3f1672e89 [hal] Add SimDevice createInt() and createLong() (#3110)
15be5cbf1 [examples] Fix segfault in GearsBot C++ example (#3111)
4cf0e5e6d Add quick links to API documentation in README (#3082)
6b1898f12 Fix RT priority docs (NFC) (#3098)
b3426e9c0 [wpimath] Fix missing whitespace in pose estimator doc (#3097)
38c1a1f3e [examples] Fix feildRelative -> fieldRelative typo in XControllerCommand examples (#3104)
4488e25f1 [glass] Shorten SmartDashboard window names (#3096)
cfdb3058e [wpilibj] Update SimDeviceSimTest (#3095)
64adff5fe [examples] Fix typo in ArcadeDrive constructor parameter name (#3092)
6efc58e3d [build] Fix issues with build on windows, deprecations, and native utils (#3090)
f393989a5 [wpimath, wpiutil] Add wpi::array for compile time size checking (#3087)
d6ed20c1e [build] Set macOS deployment target to 10.14 (#3088)
7c524014c [hal] Add [[nodiscard]] to HAL_WaitForNotifierAlarm() (#3085)
406d055f0 [wpilib] Fixup wouldHitLowerLimit in elevator and arm simulation classes. (#3076)
04a90b5dd [examples] Don't continually set setpoint in PotentiometerPID Examples (#3084)
8c5bfa013 [sim] GUI: Add max value setting for keyboard joysticks (#3083)
bc80c5535 [hal] Add SimValue reset() function (#3064)
9c3b51ca0 [wpilib] Document simulation APIs (#3079)
26584ff14 [wpimath] Add model description to LinearSystemId Javadocs (#3080)
42c3d5286 [examples] Sync Java and C++ trajectories in sim example (#3081)
64e72f710 [wpilibc] Add missing function RoboRioSim::ResetData (#3073)
e95503798 [wpimath] Add optimize() to SwerveModuleState (#3065)
fb99910c2 [hal] Add SimInt and SimLong wrappers for int/long SimValue (#3066)
e620bd4d3 [doc] Add machine-readable websocket specification (#3059)
a44e761d9 [glass] Add support for plot Y axis labels
ea1974d57 [wpigui] Update imgui and implot to latest
85a0bd43c [wpimath] Add RKF45 integration (#3047)
278e0f126 [glass] Use .controllable to set widgets' read-only state (#3035)
d8652cfd4 [wpimath] Make Java DCMotor API consistent with C++ and fix motor calcs (#3046)
377b7065a [build] Add toggleOffOn to Java spotless (#3053)
1e9c79c58 [sim] Use plant output to retrieve simulated position (#3043)
78147aa34 [sim] GUI: Fix Keyboard Joystick (#3052)
cd4a2265b [ntcore] Fix NetworkTableEntry::GetRaw() (#3051)
767ac1de1 [build] Use deploy key for doc publish (#3048)
d762215d1 [build] Add publish documentation script (#3040)
1fd09593c [examples] Add missing TestInit method to GettingStarted Example (#3039)
e45a0f6ce [examples] Add RomiGyro to the Romi Reference example (#3037)
94f852572 Update imaging link and fix typo (#3038)
d73cf64e5 [examples] Update RomiReference to match motor directions (#3036)
f945462ba Bump copyright year to 2021 (#3033)
b05946175 [wpimath] Catch Drake JNI exceptions and rethrow them (#3032)
62f0f8190 [wpimath] Deduplicate angle modulus functions (#2998)
bf8c0da4b [glass] Add "About" popup with version number (#3031)
dfdd6b389 [build] Increase Gradle heap size in Gazebo build (#3028)
f5e0fc3e9 Finish clang-tidy cleanups (#3003)
d741101fe [sim] Revert accidental commit of WSProvider_PDP.h (#3027)
e1620799c [examples] Add C++ RomiReference example (#2969)
749c7adb1 [command] Fix use-after-free in CommandScheduler (#3024)
921a73391 [sim] Add WS providers for AddressableLED, PCM, and Solenoid (#3026)
26d0004fe [build] Split Actions into different yml files (#3025)
948af6d5b [wpilib] PWMSpeedController.get(): Apply Inversion (#3016)
670a187a3 [wpilibc] SuppliedValueWidget.h: Forward declare ShuffleboardContainer (#3021)
be9f72502 [ntcore] NetworkTableValue: Use std::forward instead of std::move (#3022)
daf3f4cb1 [cscore] cscore_raw_cv.h: Fix error in PutFrame() (#3019)
5acda4cc7 [wpimath] ElevatorFeedforward.h: Add time.h include
8452af606 [wpimath] units/radiation.h: Add mass.h include
630d44952 [hal] ErrorsInternal.h: Add stdint.h include
7372cf7d9 [cscore] Windows NetworkUtil.cpp: Add missing include
b7e46c558 Include .h from .inc/.inl files (NFC) (#3017)
bf8f8710e [examples] Update Romi template and example (#2996)
6ffe5b775 [glass] Ensure NetworkTableTree parent context menu has an id (#3015)
be0805b85 [build] Update to WPILibVersioningPlugin 4.1.0 (#3014)
65b2359b2 [build] Add spotless for other files (#3007)
8651aa73e [examples] Enable NT Flush in Field2d examples (#3013)
78b542737 [build] Add Gazebo build to Actions CI (#3004)
fccf86532 [sim] DriverStationGui: Fix two bugs (#3010)
185741760 [sim] WSProvider_Joystick: Fix off-by-1 in incoming buttons (#3011)
ee7114a58 [glass] Add drive class widgets (#2975)
00fa91d0d [glass] Use ImGui style for gyro widget colors (#3009)
b7a25bfc3 ThirdPartyNotices: Add portable file dialogs license (#3005)
a2e46b9a1 [glass] modernize-use-nullptr (NFC) (#3006)
a751fa22d [build] Apply spotless for java formatting (#1768)
e563a0b7d [wpimath] Make LinearSystemLoop move-constructible and move-assignable (#2967)
49085ca94 [glass] Add context menus to remove and add NetworkTables values (#2979)
560a850a2 [glass] Add NetworkTables Log window (#2997)
66782e231 [sim] Create Left/Right drivetrain current accessors (#3001)
b60eb1544 clang-tidy: bugprone-virtual-near-miss
cbe59fa3b clang-tidy: google-explicit-constructor
c97c6dc06 clang-tidy: google-readability-casting (NFC)
32fa97d68 clang-tidy: modernize-use-nullptr (NFC)
aee460326 clang-tidy: modernize-pass-by-value
29c7da5f1 clang-tidy: modernize-make-unique
6131f4e32 clang-tidy: modernize-concat-nested-namespaces (NFC)
67e03e625 clang-tidy: modernize-use-equals-default
b124f9101 clang-tidy: modernize-use-default-member-init
d11a3a638 clang-tidy: modernize-use-override (NFC)
4cc0706b0 clang-tidy: modernize-use-using (NFC)
885f5a978 [wpilibc] Speed up ScopedTracerTest (#2999)
60b596457 [wpilibj] Fix typos (NFC) (#3000)
6e1919414 [build] Bring naming checkstyle rules up to date with Google Style guide (#1781)
8c8ec5e63 [wpilibj] Suppress unchecked cast warnings (#2995)
b8413ddd5 [wpiutil] Add noexcept to timestamp static functions (#2994)
5d976b6e1 [glass] Load NetworkTableView settings on first draw (#2993)
2b4317452 Replace NOLINT(runtime/explicit) comments with NOLINT (NFC) (#2992)
1c3011ba4 [glass] Fix handling of "/" NetworkTables key (#2991)
574a42f3b [hal] Fix UnsafeManipulateDIO status check (#2987)
9005cd59e [wpilib] Clamp input voltage in sim classes (#2955)
dd494d4ab [glass] NetworkTablesModel::Update(): Avoid use-after-move (#2988)
7cca469a1 [wpimath] NormalizeAngle: Make inline, remove unnamed namespace (#2986)
2aed432b4 Add braces to C++ single-line loops and conditionals (NFC) (#2973)
0291a3ff5 [wpiutil] StringRef: Add noexcept to several constructors (#2984)
5d7315280 [wpimath] Update UnitsTest.cpp copyright (#2985)
254931b9a [wpimath] Remove LinearSystem from LinearSystemLoop (#2968)
aa89744c9 Update OtherVersions.md to include wpimath info (#2983)
1cda3f5ad [glass] Fix styleguide (#2976)
8f1f64ffb Remove year from file copyright message (NFC) (#2972)
2bc0a7795 [examples] Fix wpiformat warning about utility include (#2971)
4204da6ad [glass] Add application icon
7ac39b10f [wpigui] Add icon support
6b567e006 [wpimath] Add support for varying vision standard deviations in pose estimators (#2956)
df299d6ed [wpimath] Add UnscentedKalmanFilter::Correct() overload (#2966)
4e34f0523 [examples] Use ADXRS450_GyroSim class in simulation example (#2964)
9962f6fd7 [wpilib] Give Field2d a default Sendable name (#2953)
f9d492f4b [sim] GUI: Show "Other Devices" window by default (#2961)
a8bb2ef1c [sim] Fix ADXRS450_GyroSim and DutyCycleEncoderSim (#2963)
240c629cd [sim] Try to guess "Map Gamepad" setting (#2960)
952567dd3 [wpilibc] Add missing move constructors and assignment operators (#2959)
10b396b4c [sim] Various WebSockets fixes and enhancements (#2952)
699bbe21a [examples] Fix comments in Gearsbot to match implementation (NFC) (#2957)
27b67deca [glass] Add more widgets (#2947)
581b7ec55 [wpilib] Add option to flush NetworkTables every iterative loop
acfbb1a44 [ntcore] DispatcherBase::Flush: Use wpi::Now()
d85a6d8fe [ntcore] Reduce limit on flush and update rate to 5 ms
20fbb5c63 [sim] Fix stringop truncation warning from GCC 10 (#2945)
1051a06a7 [glass] Show NT timestamps in seconds (#2944)
98dfc2620 [glass] Fix plots (#2943)
1ba0a2ced [sim] GUI: Add keyboard virtual joystick support (#2940)
4afb13f98 [examples] Replace M_PI with wpi::math::pi (#2938)
b27d33675 [examples] Enhance Romi templates (#2931)
00b9ae77f [sim] Change default WS port number to 3300 (#2932)
65219f309 [examples] Update Field2d position in periodic() (#2928)
f78d1d434 [sim] Process WS Encoder reset internally (#2927)
941edca59 [hal] Add Java SimDeviceDataJNI.getSimDeviceName (#2924)
a699435ed [wpilibj] Fix FlywheelSim argument order in constructor (#2922)
66d641718 [examples] Add tasks to run Java examples (#2920)
558e37c41 [examples] Add simple differential drive simulation example (#2918)
4f40d991e [glass] Switch name of Glass back to glass (#2919)
549af9900 [build] Update native-utils to 2021.0.6 (#2914)
b33693009 [glass] Change basename of glass to Glass (#2915)
c9a0edfb8 [glass] Package macOS application bundle
2c5668af4 [wpigui] Add platform-specific preferences save
751dea32a [wpilibc] Try to work around ABI break introduced in #2901 (#2917)
cd8f4bfb1 [build] Package up msvc runtime into maven artifact (#2913)
a6cfcc686 [wpilibc] Move SendableChooser Doxygen comments to header (NFC) (#2911)
b8c4f603d [wpimath] Upgrade to Eigen 3.3.9 (#2910)
0075e4b39 [wpilibj] Fix NPE in Field2d (#2909)
125af556c [simulation] Fix halsim_gui ntcore and wpiutil deps (#2908)
963ad5c25 [wpilib] Add noise to Differential Drive simulator (#2903)
387f56cb7 [examples] Add Romi reference Java example and templates (#2905)
b3deda38c [examples] Zero motors on disabledInit() in sim physics examples (#2906)
2a5ca7745 [glass] Add glass: an application for display of robot data
727940d84 [wpilib] Move Field2d to SmartDashboard
8cd42478e [wpilib] SendableBuilder: Make GetTable() visible
c11d34b26 [command] Use addCommands in command group templates (#2900)
339d7445b [sim] Add HAL hooks for simulationPeriodic (#2881)
d16f05f2c [wpilib] Fix SmartDashboard update order (#2896)
5427b32a4 [wpiutil] unique_function: Restrict implicit conversion (#2899)
f73701239 [ntcore] Add missing SetDefault initializer_list functions (#2898)
f5a6fc070 [sim] Add initialized flag for all solenoids on a PCM (#2897)
bdf5ba91a [wpilibj] Fix typo in ElevatorSim (#2895)
bc8f33877 [wpilib] Add pose estimators (#2867)
3413bfc06 [wpilib] PIDController: Recompute the error in AtSetpoint() (#2822)
2056f0ce0 [wpilib] Fix bugs in Hatchbot examples (#2893)
5eb8cfd69 [wpilibc] Fix MatchDataSender (#2892)
e6a425448 [build] Delete test folders after tests execute (#2891)
d478ad00d [imgui] Allow usage of imgui_stdlib (#2889)
53eda861d [build] Add unit-testing infrastructure to examples (#2863)
cc1d86ba6 [sim] Add title to simulator GUI window (#2888)
f0528f00e [build] CMake: Use project-specific binary and source dirs (#2886)
5cd2ad124 [wpilibc] Add Color::operator!= (#2887)
6c00e7a90 [build] CI CMake: build with GUI enabled (#2884)
53170bbb5 Update roboRIO toolchain installation instructions (#2883)
467258e05 [sim] GUI: Add option to not zero disconnected joysticks (#2876)
129be23c9 Clarify JDK installation instructions in readme (#2882)
8e9290e86 [build] Add separate CMake setting for wpimath (#2885)
7cf5bebf8 [wpilibj] Cache NT writes from DriverStation (#2780)
f7f9087fb [command] Fix timing issue in RamseteCommand (#2871)
256e7904f [wpilibj] SimDeviceSim: Fix sim value changed callback (#2880)
c8ea1b6c3 [wpilib] Add function to adjust LQR controller gain for pure time delay (#2878)
2816b06c0 [sim] HAL_GetControlWord: Fully zero output (#2873)
4c695ea08 Add toolchain installation instructions to README (#2875)
a14d51806 [wpimath] DCMotor: fix doc typo (NFC) (#2868)
017097791 [build] CMake: build sim extensions as shared libs (#2866)
f61726b5a [build] Fix cmake-config files (#2865)
fc27fdac5 [wpilibc] Cache NT values from driver station (#2768)
47c59859e [sim] Make SimDevice callbacks synchronous (#2861)
6e76ab9c0 [build] Turn on WITH_GUI for Windows cmake CI
5f78b7670 [build] Set GLFW_INSTALL to OFF
5e0808c84 [wpigui] Fix Windows cmake build
508f05a47 [imgui] Fix typo in Windows CMake target sources
Change-Id: I1737b45965f31803a96676bedc7dc40e337aa321
git-subtree-dir: third_party/allwpilib
git-subtree-split: e473a00f9785f9949e5ced30901baeaf426d2fc9
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/crossConnIntegrationTests/build.gradle b/crossConnIntegrationTests/build.gradle
new file mode 100644
index 0000000..8775359
--- /dev/null
+++ b/crossConnIntegrationTests/build.gradle
@@ -0,0 +1,119 @@
+import org.gradle.language.base.internal.ProjectLayout
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget
+import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
+import edu.wpi.first.deployutils.deploy.artifact.*
+import org.gradle.internal.os.OperatingSystem
+
+apply plugin: 'cpp'
+apply plugin: 'visual-studio'
+apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: ExtraTasks
+
+apply plugin: 'edu.wpi.first.DeployUtils'
+
+apply from: '../shared/config.gradle'
+
+ext {
+ sharedCvConfigs = [crossConnIntegrationTests: []]
+ staticCvConfigs = [:]
+ useJava = false
+ useCpp = true
+ staticGtestConfigs = [crossConnIntegrationTests: []]
+}
+
+apply from: "${rootDir}/shared/opencv.gradle"
+
+apply from: "${rootDir}/shared/googletest.gradle"
+
+deploy {
+ targets {
+ roborio(RemoteTarget) {
+ directory = '/home/admin'
+ maxChannels = 4
+ locations {
+ ssh(SshDeployLocation) {
+ address = "172.22.11.2"
+ user = 'admin'
+ password = ''
+ ipv6 = false
+ }
+ }
+
+ artifacts {
+ all {
+ predeploy << { ctx ->
+ ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
+ }
+ postdeploy << { ctx ->
+ ctx.execute("sync")
+ ctx.execute("ldconfig")
+ }
+ }
+
+ crossConnIntegrationTests(NativeExecutableArtifact) {
+ libraryDirectory = '/usr/local/frc/third-party/lib'
+ postdeploy << { ctx ->
+ ctx.execute('chmod +x crossConnIntegrationTests')
+ }
+ }
+ }
+ }
+ }
+}
+
+model {
+ components {
+ crossConnIntegrationTests(NativeExecutableSpec) {
+ targetBuildTypes 'debug'
+ nativeUtils.useRequiredLibrary(it, 'googletest_static')
+ binaries.all { binary ->
+ if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+ if (binary.buildType.name == 'debug') {
+ deploy.targets.roborio.artifacts.crossConnIntegrationTests.binary = binary
+ }
+
+ binary.sources {
+ athenaCpp(CppSourceSet) {
+ source {
+ srcDirs = ['src/main/native/cpp']
+ includes = ['**/*.cpp']
+ }
+ exportedHeaders {
+ srcDirs = ['src/main/native/include']
+ includes = ['**/*.h']
+ }
+ }
+ }
+ binary.tasks.withType(CppCompile) {
+ cppCompiler.args "-Wno-missing-field-initializers"
+ cppCompiler.args "-Wno-unused-variable"
+ cppCompiler.args "-Wno-error=deprecated-declarations"
+ }
+ project(':hal').addHalDependency(binary, 'shared')
+ project(':hal').addHalJniDependency(binary)
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+ nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
+ }
+ } else {
+ binary.sources {
+ simCpp(CppSourceSet) {
+ source {
+ srcDirs 'src/main/native/dt'
+ includes = ['**/*.cpp']
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+}
+
+tasks.register('deployTests') {
+ try {
+ dependsOn tasks.named('deployCrossConnIntegrationTestsLibrariesRoborio')
+ dependsOn tasks.named('deployCrossConnIntegrationTestsRoborio')
+ } catch (ignored) {
+ }
+}
diff --git a/crossConnIntegrationTests/src/main/native/cpp/AnalogTest.cpp b/crossConnIntegrationTests/src/main/native/cpp/AnalogTest.cpp
new file mode 100644
index 0000000..3423ffe
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/AnalogTest.cpp
@@ -0,0 +1,112 @@
+// 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 <hal/AnalogInput.h>
+#include <hal/AnalogOutput.h>
+#include <wpi/SmallVector.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class AnalogCrossTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(AnalogCrossTest, AnalogCross) {
+ auto param = GetParam();
+
+ int32_t status = 0;
+ AnalogInputHandle input{param.first, &status};
+ ASSERT_EQ(0, status);
+ AnalogOutputHandle output{param.second, &status};
+ ASSERT_EQ(0, status);
+
+ for (double i = 0; i < 5; i += 0.1) {
+ HAL_SetAnalogOutput(output, i, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
+ ASSERT_EQ(0, status);
+ }
+
+ for (double i = 5; i > 0; i -= 0.1) {
+ HAL_SetAnalogOutput(output, i, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
+ ASSERT_EQ(0, status);
+ }
+}
+
+TEST(AnalogInputTest, AllocateAll) {
+ wpi::SmallVector<AnalogInputHandle, 21> analogHandles;
+ for (int i = 0; i < HAL_GetNumAnalogInputs(); i++) {
+ int32_t status = 0;
+ analogHandles.emplace_back(AnalogInputHandle(i, &status));
+ ASSERT_EQ(status, 0);
+ }
+}
+
+TEST(AnalogInputTest, MultipleAllocateFails) {
+ int32_t status = 0;
+ AnalogInputHandle handle(0, &status);
+ ASSERT_NE(handle, HAL_kInvalidHandle);
+ ASSERT_EQ(status, 0);
+
+ AnalogInputHandle handle2(0, &status);
+ ASSERT_EQ(handle2, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(AnalogInputTest, OverAllocateFails) {
+ int32_t status = 0;
+ AnalogInputHandle handle(HAL_GetNumAnalogInputs(), &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogInputTest, UnderAllocateFails) {
+ int32_t status = 0;
+ AnalogInputHandle handle(-1, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogOutputTest, AllocateAll) {
+ wpi::SmallVector<AnalogOutputHandle, 21> analogHandles;
+ for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++) {
+ int32_t status = 0;
+ analogHandles.emplace_back(AnalogOutputHandle(i, &status));
+ ASSERT_EQ(status, 0);
+ }
+}
+
+TEST(AnalogOutputTest, MultipleAllocateFails) {
+ int32_t status = 0;
+ AnalogOutputHandle handle(0, &status);
+ ASSERT_NE(handle, HAL_kInvalidHandle);
+ ASSERT_EQ(status, 0);
+
+ AnalogOutputHandle handle2(0, &status);
+ ASSERT_EQ(handle2, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(AnalogOutputTest, OverAllocateFails) {
+ int32_t status = 0;
+ AnalogOutputHandle handle(HAL_GetNumAnalogOutputs(), &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogOutputTest, UnderAllocateFails) {
+ int32_t status = 0;
+ AnalogOutputHandle handle(-1, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+INSTANTIATE_TEST_SUITE_P(AnalogCrossConnectsTests, AnalogCrossTest,
+ ::testing::ValuesIn(AnalogCrossConnects));
diff --git a/crossConnIntegrationTests/src/main/native/cpp/DIOTest.cpp b/crossConnIntegrationTests/src/main/native/cpp/DIOTest.cpp
new file mode 100644
index 0000000..84d2b9d
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/DIOTest.cpp
@@ -0,0 +1,101 @@
+// 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 <hal/DIO.h>
+#include <wpi/SmallVector.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class DIOTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(DIOTest, DIOCross) {
+ auto param = GetParam();
+ int32_t status = 0;
+ DIOHandle first{param.first, false, &status};
+ ASSERT_EQ(0, status);
+ DIOHandle second{param.second, true, &status};
+ ASSERT_EQ(0, status);
+
+ HAL_SetDIO(first, false, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_FALSE(HAL_GetDIO(first, &status));
+ ASSERT_EQ(0, status);
+ ASSERT_FALSE(HAL_GetDIO(second, &status));
+ ASSERT_EQ(0, status);
+
+ HAL_SetDIO(first, true, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_TRUE(HAL_GetDIO(second, &status));
+ ASSERT_EQ(0, status);
+
+ HAL_SetDIODirection(first, true, &status);
+ ASSERT_EQ(0, status);
+ HAL_SetDIODirection(second, false, &status);
+ ASSERT_EQ(0, status);
+
+ HAL_SetDIO(second, false, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_FALSE(HAL_GetDIO(first, &status));
+ ASSERT_EQ(0, status);
+
+ HAL_SetDIO(second, true, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_TRUE(HAL_GetDIO(first, &status));
+ ASSERT_EQ(0, status);
+}
+
+TEST(DIOTest, AllocateAll) {
+ wpi::SmallVector<DIOHandle, 32> dioHandles;
+ for (int i = 0; i < HAL_GetNumDigitalChannels(); i++) {
+ int32_t status = 0;
+ dioHandles.emplace_back(i, true, &status);
+ ASSERT_EQ(status, 0);
+ }
+}
+
+TEST(DIOTest, MultipleAllocateFails) {
+ int32_t status = 0;
+ DIOHandle handle(0, true, &status);
+ ASSERT_NE(handle, HAL_kInvalidHandle);
+ ASSERT_EQ(status, 0);
+
+ DIOHandle handle2(0, true, &status);
+ ASSERT_EQ(handle2, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(DIOTest, OverAllocateFails) {
+ int32_t status = 0;
+ DIOHandle handle(HAL_GetNumDigitalChannels(), true, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(DIOTest, UnderAllocateFails) {
+ int32_t status = 0;
+ DIOHandle handle(-1, true, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(DIOTest, CrossAllocationFails) {
+ int32_t status = 0;
+ PWMHandle pwmHandle(10, &status);
+ ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
+ ASSERT_EQ(status, 0);
+ DIOHandle handle(10, true, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+INSTANTIATE_TEST_SUITE_P(DIOCrossConnectsTests, DIOTest,
+ ::testing::ValuesIn(DIOCrossConnects));
diff --git a/crossConnIntegrationTests/src/main/native/cpp/DutyCycleTest.cpp b/crossConnIntegrationTests/src/main/native/cpp/DutyCycleTest.cpp
new file mode 100644
index 0000000..830ddc4
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/DutyCycleTest.cpp
@@ -0,0 +1,51 @@
+// 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 <hal/HAL.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(DutyCycleTest, DutyCycle) {
+ auto param = GetParam();
+
+ int32_t status = 0;
+ PWMHandle pwmHandle(param.first, &status);
+ ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
+ ASSERT_EQ(0, status);
+
+ // Ensure our PWM is disabled, and set up properly
+ HAL_SetPWMRaw(pwmHandle, 0, &status);
+ ASSERT_EQ(0, status);
+ HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+ HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
+ ASSERT_EQ(0, status);
+ HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
+ ASSERT_EQ(0, status);
+
+ DIOHandle dioHandle{param.second, true, &status};
+ ASSERT_EQ(0, status);
+
+ DutyCycleHandle dutyCycle{dioHandle, &status};
+ ASSERT_EQ(0, status);
+
+ HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
+ ASSERT_EQ(0, status);
+
+ // Sleep enough time for the frequency to converge
+ usleep(3500000);
+
+ ASSERT_NEAR(1000 / 5.05,
+ (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
+
+ // TODO measure output
+}
+
+INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTests, DutyCycleTest,
+ ::testing::ValuesIn(PWMCrossConnects));
diff --git a/crossConnIntegrationTests/src/main/native/cpp/Main.cpp b/crossConnIntegrationTests/src/main/native/cpp/Main.cpp
new file mode 100644
index 0000000..95bc5b5
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/Main.cpp
@@ -0,0 +1,10 @@
+// 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 "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
diff --git a/crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp b/crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp
new file mode 100644
index 0000000..27fcce7
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp
@@ -0,0 +1,357 @@
+// 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 <atomic>
+#include <thread>
+
+#include <hal/DMA.h>
+#include <hal/HAL.h>
+#include <wpi/SmallVector.h>
+#include <wpi/condition_variable.h>
+#include <wpi/priority_mutex.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class PWMTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+void TestTimingDMA(int squelch, std::pair<int, int> param) {
+ // Initialize DMA
+ int32_t status = 0;
+ DMAHandle dmaHandle(&status);
+ ASSERT_NE(dmaHandle, HAL_kInvalidHandle);
+ ASSERT_EQ(0, status);
+
+ status = 0;
+ PWMHandle pwmHandle(param.first, &status);
+ ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
+ ASSERT_EQ(0, status);
+
+ // Ensure our PWM is disabled, and set up properly
+ HAL_SetPWMRaw(pwmHandle, 0, &status);
+ HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+ HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
+
+ unsigned int checkPeriod = 0;
+ switch (squelch) {
+ case (0):
+ checkPeriod = 5050;
+ break;
+ case (1):
+ checkPeriod = 10100;
+ break;
+ case (3):
+ checkPeriod = 20200;
+ break;
+ }
+
+ status = 0;
+ DIOHandle dioHandle(param.second, true, &status);
+ ASSERT_NE(dioHandle, HAL_kInvalidHandle);
+
+ HAL_AddDMADigitalSource(dmaHandle, dioHandle, &status);
+ ASSERT_EQ(0, status);
+
+ HAL_SetDMAExternalTrigger(dmaHandle, dioHandle,
+ HAL_AnalogTriggerType::HAL_Trigger_kInWindow, true,
+ true, &status);
+ ASSERT_EQ(0, status);
+
+ // Loop to test 5 speeds
+ for (unsigned int testWidth = 1000; testWidth < 2100; testWidth += 250) {
+ HAL_StartDMA(dmaHandle, 1024, &status);
+ ASSERT_EQ(0, status);
+
+ while (true) {
+ int32_t remaining = 0;
+ HAL_DMASample testSample;
+ HAL_ReadDMA(dmaHandle, &testSample, 0.01, &remaining, &status);
+ if (remaining == 0) {
+ break;
+ }
+ }
+
+ HAL_SetPWMSpeed(pwmHandle, (testWidth - 1000) / 1000.0, &status);
+
+ constexpr const int kSampleCount = 15;
+ HAL_DMASample dmaSamples[kSampleCount];
+ int readCount = 0;
+ while (readCount < kSampleCount) {
+ status = 0;
+ int32_t remaining = 0;
+ HAL_DMAReadStatus readStatus = HAL_ReadDMA(
+ dmaHandle, &dmaSamples[readCount], 1.0, &remaining, &status);
+ ASSERT_EQ(0, status);
+ ASSERT_EQ(HAL_DMAReadStatus::HAL_DMA_OK, readStatus);
+ readCount++;
+ }
+
+ HAL_SetPWMSpeed(pwmHandle, 0, &status);
+ HAL_StopDMA(dmaHandle, &status);
+
+ // Find first rising edge
+ int startIndex = 4;
+ while (startIndex < 6) {
+ status = 0;
+ auto value = HAL_GetDMASampleDigitalSource(&dmaSamples[startIndex],
+ dioHandle, &status);
+ ASSERT_EQ(0, status);
+ if (value)
+ break;
+ startIndex++;
+ }
+ ASSERT_LT(startIndex, 6);
+
+ // Check that samples alternate
+ bool previous = false;
+ int iterationCount = 0;
+ for (int i = startIndex; i < startIndex + 8; i++) {
+ auto value =
+ HAL_GetDMASampleDigitalSource(&dmaSamples[i], dioHandle, &status);
+ ASSERT_EQ(0, status);
+ ASSERT_NE(previous, value);
+ previous = !previous;
+ iterationCount++;
+ }
+ ASSERT_EQ(iterationCount, 8);
+ iterationCount = 0;
+
+ // Check width between samples
+ for (int i = startIndex; i < startIndex + 8; i += 2) {
+ auto width = HAL_GetDMASampleTime(&dmaSamples[i + 1], &status) -
+ HAL_GetDMASampleTime(&dmaSamples[i], &status);
+ ASSERT_NEAR(testWidth, width, 10);
+ iterationCount++;
+ }
+ ASSERT_EQ(iterationCount, 4);
+ iterationCount = 0;
+
+ // Check period between samples
+ for (int i = startIndex; i < startIndex + 6; i += 2) {
+ auto period = HAL_GetDMASampleTime(&dmaSamples[i + 2], &status) -
+ HAL_GetDMASampleTime(&dmaSamples[i], &status);
+ ASSERT_NEAR(checkPeriod, period, 10);
+ iterationCount++;
+ }
+ ASSERT_EQ(iterationCount, 3);
+ }
+}
+
+struct InterruptCheckData {
+ wpi::SmallVector<uint64_t, 8> risingStamps;
+ wpi::SmallVector<uint64_t, 8> fallingStamps;
+ wpi::priority_mutex mutex;
+ wpi::condition_variable cond;
+ HAL_InterruptHandle handle;
+};
+
+// TODO switch this to DMA
+void TestTiming(int squelch, std::pair<int, int> param) {
+ // Initialize interrupt
+ int32_t status = 0;
+ InterruptHandle interruptHandle(&status);
+ // Ensure we have a valid interrupt handle
+ ASSERT_NE(interruptHandle, HAL_kInvalidHandle);
+
+ status = 0;
+ PWMHandle pwmHandle(param.first, &status);
+ ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
+
+ // Ensure our PWM is disabled, and set up properly
+ HAL_SetPWMRaw(pwmHandle, 0, &status);
+ HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+ HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
+
+ unsigned int checkPeriod = 0;
+ switch (squelch) {
+ case (0):
+ checkPeriod = 5050;
+ break;
+ case (1):
+ checkPeriod = 10100;
+ break;
+ case (3):
+ checkPeriod = 20200;
+ break;
+ }
+
+ status = 0;
+ DIOHandle dioHandle(param.second, true, &status);
+ ASSERT_NE(dioHandle, HAL_kInvalidHandle);
+
+ InterruptCheckData interruptData;
+ interruptData.handle = interruptHandle;
+
+ // Can use any type for the interrupt handle
+ HAL_RequestInterrupts(interruptHandle, dioHandle,
+ HAL_AnalogTriggerType::HAL_Trigger_kInWindow, &status);
+
+ HAL_SetInterruptUpSourceEdge(interruptHandle, true, true, &status);
+
+ // Loop to test 5 speeds
+ for (unsigned int i = 1000; i < 2100; i += 250) {
+ interruptData.risingStamps.clear();
+ interruptData.fallingStamps.clear();
+
+ std::atomic_bool runThread{true};
+
+ status = 0;
+ std::thread interruptThread([&]() {
+ while (runThread) {
+ int32_t threadStatus = 0;
+ auto mask =
+ HAL_WaitForInterrupt(interruptHandle, 5, true, &threadStatus);
+
+ if ((mask & 0x100) == 0x100 && interruptData.risingStamps.size() == 0 &&
+ interruptData.fallingStamps.size() == 0) {
+ // Falling edge at start of tracking. Skip
+ continue;
+ }
+
+ int32_t status = 0;
+ if ((mask & 0x1) == 0x1) {
+ auto ts = HAL_ReadInterruptRisingTimestamp(interruptHandle, &status);
+ // Rising Edge
+ interruptData.risingStamps.push_back(ts);
+ } else if ((mask & 0x100) == 0x100) {
+ auto ts = HAL_ReadInterruptFallingTimestamp(interruptHandle, &status);
+ // Falling Edge
+ interruptData.fallingStamps.push_back(ts);
+ }
+
+ if (interruptData.risingStamps.size() >= 4 &&
+ interruptData.fallingStamps.size() >= 4) {
+ interruptData.cond.notify_all();
+ runThread = false;
+ break;
+ }
+ }
+ });
+
+ // Ensure our interrupt actually got created correctly.
+ ASSERT_EQ(status, 0);
+ HAL_SetPWMSpeed(pwmHandle, (i - 1000) / 1000.0, &status);
+ ASSERT_EQ(status, 0);
+ {
+ std::unique_lock<wpi::priority_mutex> lock(interruptData.mutex);
+ // Wait for lock
+ // TODO: Add Timeout
+ auto timeout = interruptData.cond.wait_for(lock, std::chrono::seconds(2));
+ if (timeout == std::cv_status::timeout) {
+ runThread = false;
+ if (interruptThread.joinable()) {
+ interruptThread.join();
+ }
+ ASSERT_TRUE(false); // Exit test as failure on timeout
+ }
+ }
+
+ HAL_SetPWMRaw(pwmHandle, 0, &status);
+
+ // Ensure our interrupts have the proper counts
+ ASSERT_EQ(interruptData.risingStamps.size(),
+ interruptData.fallingStamps.size());
+
+ ASSERT_GT(interruptData.risingStamps.size(), 0u);
+
+ ASSERT_EQ(interruptData.risingStamps.size() % 2, 0u);
+ ASSERT_EQ(interruptData.fallingStamps.size() % 2, 0u);
+
+ for (size_t j = 0; j < interruptData.risingStamps.size(); j++) {
+ uint64_t width =
+ interruptData.fallingStamps[j] - interruptData.risingStamps[j];
+ ASSERT_NEAR(width, i, 10);
+ }
+
+ for (unsigned int j = 0; j < interruptData.risingStamps.size() - 1; j++) {
+ uint64_t period =
+ interruptData.risingStamps[j + 1] - interruptData.risingStamps[j];
+ ASSERT_NEAR(period, checkPeriod, 10);
+ }
+ runThread = false;
+ if (interruptThread.joinable()) {
+ interruptThread.join();
+ }
+ }
+}
+
+TEST_P(PWMTest, Timing4x) {
+ auto param = GetParam();
+ TestTiming(3, param);
+}
+
+TEST_P(PWMTest, Timing2x) {
+ auto param = GetParam();
+ TestTiming(1, param);
+}
+
+TEST_P(PWMTest, Timing1x) {
+ auto param = GetParam();
+ TestTiming(0, param);
+}
+
+TEST_P(PWMTest, TimingDMA4x) {
+ auto param = GetParam();
+ TestTimingDMA(3, param);
+}
+
+TEST_P(PWMTest, TimingDMA2x) {
+ auto param = GetParam();
+ TestTimingDMA(1, param);
+}
+
+TEST_P(PWMTest, TimingDMA1x) {
+ auto param = GetParam();
+ TestTimingDMA(0, param);
+}
+
+TEST(PWMTest, AllocateAll) {
+ wpi::SmallVector<PWMHandle, 21> pwmHandles;
+ for (int i = 0; i < HAL_GetNumPWMChannels(); i++) {
+ int32_t status = 0;
+ pwmHandles.emplace_back(PWMHandle(i, &status));
+ ASSERT_EQ(status, 0);
+ }
+}
+
+TEST(PWMTest, MultipleAllocateFails) {
+ int32_t status = 0;
+ PWMHandle handle(0, &status);
+ ASSERT_NE(handle, HAL_kInvalidHandle);
+ ASSERT_EQ(status, 0);
+
+ PWMHandle handle2(0, &status);
+ ASSERT_EQ(handle2, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(PWMTest, OverAllocateFails) {
+ int32_t status = 0;
+ PWMHandle handle(HAL_GetNumPWMChannels(), &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(PWMTest, UnderAllocateFails) {
+ int32_t status = 0;
+ PWMHandle handle(-1, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(PWMTest, CrossAllocationFails) {
+ int32_t status = 0;
+ DIOHandle dioHandle(10, true, &status);
+ ASSERT_NE(dioHandle, HAL_kInvalidHandle);
+ ASSERT_EQ(status, 0);
+ PWMHandle handle(10, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+INSTANTIATE_TEST_SUITE_P(PWMCrossConnectTests, PWMTest,
+ ::testing::ValuesIn(PWMCrossConnects));
diff --git a/crossConnIntegrationTests/src/main/native/cpp/RelayAnalogTest.cpp b/crossConnIntegrationTests/src/main/native/cpp/RelayAnalogTest.cpp
new file mode 100644
index 0000000..fc7da0c
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/RelayAnalogTest.cpp
@@ -0,0 +1,50 @@
+// 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 <hal/AnalogInput.h>
+#include <hal/Relay.h>
+#include <wpi/SmallVector.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class RelayAnalogTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(RelayAnalogTest, RelayAnalogCross) {
+ auto param = GetParam();
+
+ int32_t status = 0;
+ RelayHandle relay{param.first, true, &status};
+ ASSERT_EQ(0, status);
+ AnalogInputHandle analog{param.second, &status};
+ ASSERT_EQ(0, status);
+ AnalogTriggerHandle trigger{analog, &status};
+ ASSERT_EQ(0, status);
+ HAL_SetAnalogTriggerLimitsVoltage(trigger, 1.5, 3.0, &status);
+ ASSERT_EQ(0, status);
+
+ HAL_SetRelay(relay, false, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+ ASSERT_EQ(0, status);
+
+ HAL_SetRelay(relay, true, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_TRUE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+ ASSERT_EQ(0, status);
+
+ HAL_SetRelay(relay, false, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+ ASSERT_EQ(0, status);
+}
+
+INSTANTIATE_TEST_SUITE_P(RelayAnalogCrossConnectsTests, RelayAnalogTest,
+ ::testing::ValuesIn(RelayAnalogCrossConnects));
diff --git a/crossConnIntegrationTests/src/main/native/cpp/RelayDigitalTest.cpp b/crossConnIntegrationTests/src/main/native/cpp/RelayDigitalTest.cpp
new file mode 100644
index 0000000..c7923bc
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/RelayDigitalTest.cpp
@@ -0,0 +1,104 @@
+// 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 <hal/Relay.h>
+#include <wpi/SmallVector.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class RelayDigitalTest : public ::testing::TestWithParam<RelayCross> {};
+
+TEST_P(RelayDigitalTest, RelayCross) {
+ auto param = GetParam();
+ int32_t status = 0;
+ RelayHandle fwd{param.Relay, true, &status};
+ ASSERT_EQ(0, status);
+ RelayHandle rev{param.Relay, false, &status};
+ ASSERT_EQ(0, status);
+ DIOHandle fwdInput{param.FwdDio, true, &status};
+ ASSERT_EQ(0, status);
+ DIOHandle revInput{param.RevDio, true, &status};
+ ASSERT_EQ(0, status);
+
+ HAL_SetRelay(fwd, false, &status);
+ ASSERT_EQ(0, status);
+ HAL_SetRelay(rev, false, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
+ ASSERT_EQ(0, status);
+ ASSERT_FALSE(HAL_GetDIO(revInput, &status));
+ ASSERT_EQ(0, status);
+
+ HAL_SetRelay(fwd, false, &status);
+ ASSERT_EQ(0, status);
+ HAL_SetRelay(rev, true, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
+ ASSERT_EQ(0, status);
+ ASSERT_TRUE(HAL_GetDIO(revInput, &status));
+ ASSERT_EQ(0, status);
+
+ HAL_SetRelay(fwd, true, &status);
+ ASSERT_EQ(0, status);
+ HAL_SetRelay(rev, false, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
+ ASSERT_EQ(0, status);
+ ASSERT_FALSE(HAL_GetDIO(revInput, &status));
+ ASSERT_EQ(0, status);
+
+ HAL_SetRelay(fwd, true, &status);
+ ASSERT_EQ(0, status);
+ HAL_SetRelay(rev, true, &status);
+ ASSERT_EQ(0, status);
+ usleep(1000);
+ ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
+ ASSERT_EQ(0, status);
+ ASSERT_TRUE(HAL_GetDIO(revInput, &status));
+ ASSERT_EQ(0, status);
+}
+
+TEST(RelayDigitalTest, AllocateAll) {
+ wpi::SmallVector<RelayHandle, 32> relayHandles;
+ for (int i = 0; i < HAL_GetNumRelayChannels(); i++) {
+ int32_t status = 0;
+ relayHandles.emplace_back(i / 2, i % 2, &status);
+ ASSERT_EQ(status, 0);
+ }
+}
+
+TEST(RelayDigitalTest, MultipleAllocateFails) {
+ int32_t status = 0;
+ RelayHandle handle(0, true, &status);
+ ASSERT_NE(handle, HAL_kInvalidHandle);
+ ASSERT_EQ(status, 0);
+
+ RelayHandle handle2(0, true, &status);
+ ASSERT_EQ(handle2, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(RelayDigitalTest, OverAllocateFails) {
+ int32_t status = 0;
+ RelayHandle handle(HAL_GetNumRelayChannels(), true, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(RelayDigitalTest, UnderAllocateFails) {
+ int32_t status = 0;
+ RelayHandle handle(-1, true, &status);
+ ASSERT_EQ(handle, HAL_kInvalidHandle);
+ ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTests, RelayDigitalTest,
+ ::testing::ValuesIn(RelayCrossConnects));
diff --git a/crossConnIntegrationTests/src/main/native/cpp/TestEnvironment.cpp b/crossConnIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
new file mode 100644
index 0000000..ee8c2b1
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
@@ -0,0 +1,71 @@
+// 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 <cstdlib>
+#include <thread>
+
+#include <fmt/core.h>
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+#include "mockds/MockDS.h"
+
+using namespace std::chrono_literals;
+
+class TestEnvironment : public testing::Environment {
+ bool m_alreadySetUp = false;
+ MockDS m_mockDS;
+
+ public:
+ TestEnvironment() {
+ // Only set up once. This allows gtest_repeat to be used to automatically
+ // repeat tests.
+ if (m_alreadySetUp) {
+ return;
+ }
+ m_alreadySetUp = true;
+
+ if (!HAL_Initialize(500, 0)) {
+ fmt::print(stderr, "FATAL ERROR: HAL could not be initialized\n");
+ std::exit(-1);
+ }
+
+ m_mockDS.Start();
+
+ // This sets up the network communications library to enable the driver
+ // station. After starting network coms, it will loop until the driver
+ // station returns that the robot is enabled, to ensure that tests will be
+ // able to run on the hardware.
+ HAL_ObserveUserProgramStarting();
+
+ fmt::print("Started coms\n");
+
+ int enableCounter = 0;
+
+ auto checkEnabled = []() {
+ HAL_ControlWord controlWord;
+ std::memset(&controlWord, 0, sizeof(controlWord));
+ HAL_GetControlWord(&controlWord);
+ return controlWord.enabled && controlWord.dsAttached;
+ };
+ while (!checkEnabled()) {
+ if (enableCounter > 50) {
+ // Robot did not enable properly after 5 seconds.
+ // Force exit
+ fmt::print(stderr, " Failed to enable. Aborting\n");
+ std::terminate();
+ }
+
+ std::this_thread::sleep_for(100ms);
+
+ fmt::print("Waiting for enable: {}\n", enableCounter++);
+ }
+ std::this_thread::sleep_for(500ms);
+ }
+
+ ~TestEnvironment() override { m_mockDS.Stop(); }
+};
+
+testing::Environment* const environment =
+ testing::AddGlobalTestEnvironment(new TestEnvironment);
diff --git a/crossConnIntegrationTests/src/main/native/cpp/mockds/MockDS.cpp b/crossConnIntegrationTests/src/main/native/cpp/mockds/MockDS.cpp
new file mode 100644
index 0000000..b2e5c2d
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/mockds/MockDS.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 "MockDS.h"
+
+#include <stdint.h>
+
+#include <string_view>
+
+#include <fmt/core.h>
+#include <hal/cpp/fpga_clock.h>
+#include <wpi/Logger.h>
+#include <wpi/SmallVector.h>
+#include <wpi/UDPClient.h>
+
+static void LoggerFunc(unsigned int level, const char* file, unsigned int line,
+ const char* msg) {
+ if (level == 20) {
+ fmt::print(stderr, "DS: {}\n", msg);
+ return;
+ }
+
+ std::string_view levelmsg;
+ if (level >= 50) {
+ levelmsg = "CRITICAL";
+ } else if (level >= 40) {
+ levelmsg = "ERROR";
+ } else if (level >= 30) {
+ levelmsg = "WARNING";
+ } else {
+ return;
+ }
+ fmt::print(stderr, "DS: {}: {} ({}:{})\n", levelmsg, msg, file, line);
+}
+
+static void generateEnabledDsPacket(wpi::SmallVectorImpl<uint8_t>& data,
+ uint16_t sendCount) {
+ data.clear();
+ data.push_back(sendCount >> 8);
+ data.push_back(sendCount);
+ data.push_back(0x01); // general data tag
+ data.push_back(0x04); // teleop enabled
+ data.push_back(0x10); // normal data request
+ data.push_back(0x00); // red 1 station
+}
+
+void MockDS::Start() {
+ if (m_active) {
+ return;
+ }
+ m_active = true;
+ m_thread = std::thread([&]() {
+ wpi::Logger logger(LoggerFunc);
+ wpi::UDPClient client(logger);
+ client.start();
+ auto timeout_time = hal::fpga_clock::now();
+ int initCount = 0;
+ uint16_t sendCount = 0;
+ wpi::SmallVector<uint8_t, 8> data;
+ while (m_active) {
+ // Keep 20ms intervals, and increase time to next interval
+ auto current = hal::fpga_clock::now();
+ while (timeout_time <= current) {
+ timeout_time += std::chrono::milliseconds(20);
+ }
+ std::this_thread::sleep_until(timeout_time);
+ generateEnabledDsPacket(data, sendCount++);
+ // ~10 disabled packets are required to make the robot actually enable
+ // 1 is definitely not enough.
+ if (initCount < 10) {
+ initCount++;
+ data[3] = 0;
+ }
+ client.send(data, "127.0.0.1", 1110);
+ }
+ client.shutdown();
+ });
+}
+
+void MockDS::Stop() {
+ m_active = false;
+ if (m_thread.joinable()) {
+ m_thread.join();
+ }
+}
diff --git a/crossConnIntegrationTests/src/main/native/cpp/mockds/MockDS.h b/crossConnIntegrationTests/src/main/native/cpp/mockds/MockDS.h
new file mode 100644
index 0000000..da5fcd9
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/cpp/mockds/MockDS.h
@@ -0,0 +1,23 @@
+// 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 <atomic>
+#include <thread>
+
+class MockDS {
+ public:
+ MockDS() = default;
+ ~MockDS() { Stop(); }
+ MockDS(const MockDS& other) = delete;
+ MockDS& operator=(const MockDS& other) = delete;
+
+ void Start();
+ void Stop();
+
+ private:
+ std::thread m_thread;
+ std::atomic_bool m_active{false};
+};
diff --git a/crossConnIntegrationTests/src/main/native/dt/Main.cpp b/crossConnIntegrationTests/src/main/native/dt/Main.cpp
new file mode 100644
index 0000000..a3e363e
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/dt/Main.cpp
@@ -0,0 +1,5 @@
+// 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.
+
+int main() {}
diff --git a/crossConnIntegrationTests/src/main/native/include/CrossConnects.h b/crossConnIntegrationTests/src/main/native/include/CrossConnects.h
new file mode 100644
index 0000000..f77a8f2
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/include/CrossConnects.h
@@ -0,0 +1,62 @@
+// 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 <array>
+#include <utility>
+
+namespace hlt {
+
+constexpr static std::array<std::pair<int, int>, 22> DIOCrossConnects{
+ std::pair{20, 25},
+ std::pair{19, 24},
+ std::pair{17, 13},
+ std::pair{16, 12},
+ std::pair{15, 11},
+ std::pair{14, 10},
+ std::pair{26, 2},
+ std::pair{27, 1},
+ std::pair{28, 0},
+ std::pair{29, 3},
+ std::pair{30, 4},
+
+ // Opposite direction
+ std::pair{25, 20},
+ std::pair{24, 19},
+ std::pair{13, 17},
+ std::pair{12, 16},
+ std::pair{11, 15},
+ std::pair{10, 14},
+ std::pair{2, 26},
+ std::pair{1, 27},
+ std::pair{0, 28},
+ std::pair{3, 29},
+ std::pair{4, 30},
+};
+
+// PWM on left, DIO on right
+constexpr static std::array<std::pair<int, int>, 2> PWMCrossConnects{
+ std::pair{0, 18},
+ std::pair{16, 25},
+};
+
+// FWD only, relay on left
+constexpr static std::array<std::pair<int, int>, 2> RelayAnalogCrossConnects{
+ std::pair{2, 0}, std::pair{3, 1}};
+
+struct RelayCross {
+ int Relay;
+ int FwdDio;
+ int RevDio;
+};
+
+constexpr static std::array<RelayCross, 1> RelayCrossConnects{
+ RelayCross{0, 23, 22}};
+
+// input on left
+constexpr static std::array<std::pair<int, int>, 2> AnalogCrossConnects{
+ std::pair{2, 0}, std::pair{4, 1}};
+
+} // namespace hlt
diff --git a/crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h b/crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h
new file mode 100644
index 0000000..9f0eb15
--- /dev/null
+++ b/crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h
@@ -0,0 +1,200 @@
+// 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 <hal/DMA.h>
+#include <hal/DutyCycle.h>
+#include <hal/HAL.h>
+
+namespace hlt {
+
+struct InterruptHandle {
+ public:
+ explicit InterruptHandle(int32_t* status) {
+ handle = HAL_InitializeInterrupts(status);
+ }
+ InterruptHandle(const InterruptHandle&) = delete;
+ InterruptHandle operator=(const InterruptHandle&) = delete;
+
+ InterruptHandle(InterruptHandle&&) = default;
+ InterruptHandle& operator=(InterruptHandle&&) = default;
+
+ ~InterruptHandle() { HAL_CleanInterrupts(handle); }
+
+ operator HAL_InterruptHandle() const { return handle; }
+
+ private:
+ HAL_InterruptHandle handle = 0;
+};
+
+struct DMAHandle {
+ public:
+ explicit DMAHandle(int32_t* status) { handle = HAL_InitializeDMA(status); }
+ DMAHandle(const DMAHandle&) = delete;
+ DMAHandle operator=(const DMAHandle&) = delete;
+
+ DMAHandle(DMAHandle&&) = default;
+ DMAHandle& operator=(DMAHandle&&) = default;
+
+ ~DMAHandle() { HAL_FreeDMA(handle); }
+
+ operator HAL_DMAHandle() const { return handle; }
+
+ private:
+ HAL_DMAHandle handle = 0;
+};
+
+struct AnalogInputHandle {
+ public:
+ AnalogInputHandle(int32_t port, int32_t* status) {
+ handle = HAL_InitializeAnalogInputPort(HAL_GetPort(port), nullptr, status);
+ }
+ AnalogInputHandle(const AnalogInputHandle&) = delete;
+ AnalogInputHandle operator=(const AnalogInputHandle&) = delete;
+
+ AnalogInputHandle(AnalogInputHandle&&) = default;
+ AnalogInputHandle& operator=(AnalogInputHandle&&) = default;
+
+ ~AnalogInputHandle() { HAL_FreeAnalogInputPort(handle); }
+
+ operator HAL_AnalogInputHandle() const { return handle; }
+
+ private:
+ HAL_AnalogInputHandle handle = 0;
+};
+
+struct AnalogOutputHandle {
+ public:
+ AnalogOutputHandle(int32_t port, int32_t* status) {
+ handle = HAL_InitializeAnalogOutputPort(HAL_GetPort(port), nullptr, status);
+ }
+ AnalogOutputHandle(const AnalogOutputHandle&) = delete;
+ AnalogOutputHandle operator=(const AnalogOutputHandle&) = delete;
+
+ AnalogOutputHandle(AnalogOutputHandle&&) = default;
+ AnalogOutputHandle& operator=(AnalogOutputHandle&&) = default;
+
+ ~AnalogOutputHandle() { HAL_FreeAnalogOutputPort(handle); }
+
+ operator HAL_AnalogOutputHandle() const { return handle; }
+
+ private:
+ HAL_AnalogOutputHandle handle = 0;
+};
+
+struct AnalogTriggerHandle {
+ public:
+ explicit AnalogTriggerHandle(HAL_AnalogInputHandle port, int32_t* status) {
+ handle = HAL_InitializeAnalogTrigger(port, status);
+ }
+ AnalogTriggerHandle(const AnalogTriggerHandle&) = delete;
+ AnalogTriggerHandle operator=(const AnalogTriggerHandle&) = delete;
+
+ AnalogTriggerHandle(AnalogTriggerHandle&&) = default;
+ AnalogTriggerHandle& operator=(AnalogTriggerHandle&&) = default;
+
+ ~AnalogTriggerHandle() {
+ int32_t status = 0;
+ HAL_CleanAnalogTrigger(handle, &status);
+ }
+
+ operator HAL_AnalogTriggerHandle() const { return handle; }
+
+ private:
+ HAL_AnalogTriggerHandle handle = 0;
+};
+
+struct DutyCycleHandle {
+ public:
+ DutyCycleHandle(HAL_DigitalHandle port, int32_t* status) {
+ handle = HAL_InitializeDutyCycle(
+ port, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, status);
+ }
+ DutyCycleHandle(const DutyCycleHandle&) = delete;
+ DutyCycleHandle operator=(const DutyCycleHandle&) = delete;
+
+ DutyCycleHandle(DutyCycleHandle&&) = default;
+ DutyCycleHandle& operator=(DutyCycleHandle&&) = default;
+
+ ~DutyCycleHandle() { HAL_FreeDutyCycle(handle); }
+
+ operator HAL_DutyCycleHandle() const { return handle; }
+
+ private:
+ HAL_DutyCycleHandle handle = 0;
+};
+
+struct DIOHandle {
+ public:
+ DIOHandle() {}
+ DIOHandle(const DIOHandle&) = delete;
+ DIOHandle operator=(const DIOHandle&) = delete;
+
+ DIOHandle(DIOHandle&&) = default;
+ DIOHandle& operator=(DIOHandle&&) = default;
+
+ DIOHandle(int32_t port, HAL_Bool input, int32_t* status) {
+ handle = HAL_InitializeDIOPort(HAL_GetPort(port), input, nullptr, status);
+ }
+
+ ~DIOHandle() { HAL_FreeDIOPort(handle); }
+
+ operator HAL_DigitalHandle() const { return handle; }
+
+ private:
+ HAL_DigitalHandle handle = 0;
+};
+
+struct PWMHandle {
+ public:
+ PWMHandle() {}
+ PWMHandle(const PWMHandle&) = delete;
+ PWMHandle operator=(const PWMHandle&) = delete;
+
+ PWMHandle(PWMHandle&&) = default;
+ PWMHandle& operator=(PWMHandle&&) = default;
+
+ PWMHandle(int32_t port, int32_t* status) {
+ handle = HAL_InitializePWMPort(HAL_GetPort(port), nullptr, status);
+ }
+
+ ~PWMHandle() {
+ int32_t status = 0;
+ HAL_FreePWMPort(handle, &status);
+ }
+
+ operator HAL_DigitalHandle() const { return handle; }
+
+ private:
+ HAL_DigitalHandle handle = 0;
+};
+
+struct RelayHandle {
+ public:
+ RelayHandle(int32_t port, HAL_Bool fwd, int32_t* status) {
+ handle = HAL_InitializeRelayPort(HAL_GetPort(port), fwd, nullptr, status);
+ }
+ RelayHandle(const RelayHandle&) = delete;
+ RelayHandle operator=(const RelayHandle&) = delete;
+
+ RelayHandle(RelayHandle&&) = default;
+ RelayHandle& operator=(RelayHandle&&) = default;
+
+ ~RelayHandle() { HAL_FreeRelayPort(handle); }
+
+ operator HAL_RelayHandle() const { return handle; }
+
+ private:
+ HAL_RelayHandle handle = 0;
+};
+
+#define ASSERT_LAST_ERROR_STATUS(status, x) \
+ do { \
+ ASSERT_EQ(status, HAL_USE_LAST_ERROR); \
+ const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
+ ASSERT_EQ(status, x); \
+ } while (0)
+
+} // namespace hlt