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/simulation/halsim_ws_server/CMakeLists.txt b/simulation/halsim_ws_server/CMakeLists.txt
index d1c7983..e5b55c8 100644
--- a/simulation/halsim_ws_server/CMakeLists.txt
+++ b/simulation/halsim_ws_server/CMakeLists.txt
@@ -4,7 +4,7 @@
file(GLOB halsim_ws_server_src src/main/native/cpp/*.cpp)
-add_library(halsim_ws_server MODULE ${halsim_ws_server_src})
+add_library(halsim_ws_server SHARED ${halsim_ws_server_src})
wpilib_target_warnings(halsim_ws_server)
set_target_properties(halsim_ws_server PROPERTIES DEBUG_POSTFIX "d")
target_link_libraries(halsim_ws_server PUBLIC hal halsim_ws_core)
diff --git a/simulation/halsim_ws_server/README.md b/simulation/halsim_ws_server/README.md
new file mode 100644
index 0000000..c75414d
--- /dev/null
+++ b/simulation/halsim_ws_server/README.md
@@ -0,0 +1,15 @@
+# HAL WebSockets Server
+
+This is an extension that provides a server version of a WebSockets API for transmitting robot hardware interface state over a network. See the [Robot Hardware Interface WebSockets API specification](../halsim_ws_core/doc/hardware_ws_api.md) for more details on the protocol.
+
+## Configuration
+
+The WebSockets server has a number of configuration options available through environment variables.
+
+``HALSIMWS_SYSROOT``: The local directory to serve non-websocket HTTP content from (e.g. HTML files) starting from `/`. Defaults to the `sim` subdirectory of the current working directory.
+
+``HALSIMWS_USERROOT``: The local directory to serve non-websocket HTTP content from (e.g. HTML files) starting from `/user/`. Defaults to the `sim/user` subdirectory of the current working directory.
+
+``HALSIMWS_PORT``: The port number to listen at. Defaults to 3300.
+
+``HALSIMWS_URI``: The URI path to use for WebSockets connections. Defaults to ``"/wpilibws"``.
diff --git a/simulation/halsim_ws_server/build.gradle b/simulation/halsim_ws_server/build.gradle
index 6c6be48..16cb24e 100644
--- a/simulation/halsim_ws_server/build.gradle
+++ b/simulation/halsim_ws_server/build.gradle
@@ -59,11 +59,10 @@
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib library: pluginName, linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
- nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
+ nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
}
}
}
-
}
tasks.withType(RunTestExecutable) {
diff --git a/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp b/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
index c98c5e4..d215df6 100644
--- a/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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 <cstdio>
#include <iostream>
#include <thread>
+#include <fmt/format.h>
#include <hal/DriverStation.h>
#include <hal/HALBase.h>
#include <hal/Main.h>
-#include <wpi/Format.h>
-#include <wpi/raw_ostream.h>
extern "C" int HALSIM_InitExtension(void);
@@ -28,9 +25,9 @@
while (cycleCount < 1000) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
cycleCount++;
- std::cout << "Count: " << cycleCount << std::endl;
+ fmt::print("Count: {}\n", cycleCount);
}
- std::cout << "DONE" << std::endl;
+ std::puts("DONE");
HAL_ExitMain();
}
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
index 73ebaca..3a2e3b2 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
@@ -1,21 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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 "HALSimHttpConnection.h"
#include <uv.h>
-#include <wpi/FileSystem.h>
+#include <string_view>
+
+#include <fmt/format.h>
#include <wpi/MimeTypes.h>
-#include <wpi/Path.h>
#include <wpi/SmallVector.h>
+#include <wpi/StringExtras.h>
#include <wpi/UrlParser.h>
+#include <wpi/fs.h>
#include <wpi/raw_istream.h>
-#include <wpi/raw_ostream.h>
#include <wpi/raw_uv_ostream.h>
#include <wpi/uv/Request.h>
@@ -23,7 +22,7 @@
using namespace wpilibws;
-bool HALSimHttpConnection::IsValidWsUpgrade(wpi::StringRef protocol) {
+bool HALSimHttpConnection::IsValidWsUpgrade(std::string_view protocol) {
if (m_request.GetUrl() != m_server->GetServerUri()) {
MySendError(404, "invalid websocket address");
return false;
@@ -33,7 +32,7 @@
}
void HALSimHttpConnection::ProcessWsUpgrade() {
- m_websocket->open.connect_extended([this](auto conn, wpi::StringRef) {
+ m_websocket->open.connect_extended([this](auto conn, auto) {
conn.disconnect(); // one-shot
if (!m_server->RegisterWebsocket(shared_from_this())) {
@@ -44,11 +43,11 @@
Log(200);
m_isWsConnected = true;
- wpi::errs() << "HALWebSim: websocket connected\n";
+ std::fputs("HALWebSim: websocket connected\n", stderr);
});
// parse incoming JSON, dispatch to parent
- m_websocket->text.connect([this](wpi::StringRef msg, bool) {
+ m_websocket->text.connect([this](auto msg, bool) {
if (!m_isWsConnected) {
return;
}
@@ -65,10 +64,10 @@
m_server->OnNetValueChanged(j);
});
- m_websocket->closed.connect([this](uint16_t, wpi::StringRef) {
+ m_websocket->closed.connect([this](uint16_t, auto) {
// unset the global, allow another websocket to connect
if (m_isWsConnected) {
- wpi::errs() << "HALWebSim: websocket disconnected\n";
+ std::fputs("HALWebSim: websocket disconnected\n", stderr);
m_isWsConnected = false;
m_server->CloseWebsocket(shared_from_this());
@@ -95,47 +94,36 @@
}
if (err) {
- wpi::errs() << err.str() << "\n";
- wpi::errs().flush();
+ fmt::print(stderr, "{}\n", err.str());
+ std::fflush(stderr);
}
});
});
}
-void HALSimHttpConnection::SendFileResponse(int code,
- const wpi::Twine& codeText,
- const wpi::Twine& contentType,
- const wpi::Twine& filename,
- const wpi::Twine& extraHeader) {
- // open file
- int infd;
- if (wpi::sys::fs::openFileForRead(filename, infd)) {
- MySendError(404, "error opening file");
- return;
- }
+void HALSimHttpConnection::SendFileResponse(int code, std::string_view codeText,
+ std::string_view contentType,
+ std::string_view filename,
+ std::string_view extraHeader) {
+ std::error_code ec;
- // get status (to get file size)
- wpi::sys::fs::file_status status;
- if (wpi::sys::fs::status(infd, status)) {
+ // get file size
+ auto size = fs::file_size(filename, ec);
+ if (ec) {
MySendError(404, "error getting file size");
- wpi::sys::fs::file_t file = uv_get_osfhandle(infd);
- wpi::sys::fs::closeFile(file);
return;
}
- uv_os_fd_t outfd;
- int err = uv_fileno(m_stream.GetRawHandle(), &outfd);
- if (err < 0) {
- m_stream.GetLoopRef().ReportError(err);
- MySendError(404, "error getting fd");
- wpi::sys::fs::file_t file = uv_get_osfhandle(infd);
- wpi::sys::fs::closeFile(file);
+ // open file
+ wpi::raw_fd_istream is{filename, ec, true};
+ if (ec) {
+ MySendError(404, "error opening file");
return;
}
wpi::SmallVector<uv::Buffer, 4> toSend;
wpi::raw_uv_ostream os{toSend, 4096};
- BuildHeader(os, code, codeText, contentType, status.getSize(), extraHeader);
+ BuildHeader(os, code, codeText, contentType, size, extraHeader);
SendData(os.bufs(), false);
Log(code);
@@ -144,11 +132,10 @@
wpi::SmallVector<uv::Buffer, 4> bodyData;
wpi::raw_uv_ostream bodyOs{bodyData, 4096};
- wpi::raw_fd_istream is{infd, true};
std::string fileBuf;
size_t oldSize = 0;
- while (fileBuf.size() < status.getSize()) {
+ while (fileBuf.size() < size) {
oldSize = fileBuf.size();
fileBuf.resize(oldSize + 1);
is.read(&(*fileBuf.begin()) + oldSize, 1);
@@ -171,51 +158,47 @@
return;
}
- wpi::StringRef path;
- if (url.HasPath()) path = url.GetPath();
+ std::string_view path;
+ if (url.HasPath()) {
+ path = url.GetPath();
+ }
- if (m_request.GetMethod() == wpi::HTTP_GET && path.startswith("/") &&
- !path.contains("..")) {
+ if (m_request.GetMethod() == wpi::HTTP_GET && wpi::starts_with(path, '/') &&
+ !wpi::contains(path, "..") && !wpi::contains(path, "//")) {
// convert to fs native representation
- wpi::SmallVector<char, 32> nativePath;
- wpi::sys::path::native(path, nativePath);
-
- if (path.startswith("/user/")) {
- std::string prefix = (wpi::sys::path::get_separator() + "user" +
- wpi::sys::path::get_separator())
- .str();
- wpi::sys::path::replace_path_prefix(nativePath, prefix,
- m_server->GetWebrootUser());
+ fs::path nativePath;
+ if (wpi::starts_with(path, "/user/")) {
+ nativePath =
+ fs::path{m_server->GetWebrootSys()} /
+ fs::path{wpi::drop_front(path, 6), fs::path::format::generic_format};
} else {
- wpi::sys::path::replace_path_prefix(nativePath,
- wpi::sys::path::get_separator(),
- m_server->GetWebrootSys());
+ nativePath =
+ fs::path{m_server->GetWebrootSys()} /
+ fs::path{wpi::drop_front(path, 1), fs::path::format::generic_format};
}
- if (wpi::sys::fs::is_directory(nativePath)) {
- wpi::sys::path::append(nativePath, "index.html");
+ if (fs::is_directory(nativePath)) {
+ nativePath.append("index.html");
}
- if (!wpi::sys::fs::exists(nativePath) ||
- wpi::sys::fs::is_directory(nativePath)) {
- MySendError(404, "Resource '" + path + "' not found");
+ if (!fs::exists(nativePath) || fs::is_directory(nativePath)) {
+ MySendError(404, fmt::format("Resource '{}' not found", path));
} else {
- auto contentType = wpi::MimeTypeFromPath(wpi::Twine(nativePath).str());
- SendFileResponse(200, "OK", contentType, nativePath);
+ auto contentType = wpi::MimeTypeFromPath(nativePath.string());
+ SendFileResponse(200, "OK", contentType, nativePath.string());
}
} else {
MySendError(404, "Resource not found");
}
}
-void HALSimHttpConnection::MySendError(int code, const wpi::Twine& message) {
+void HALSimHttpConnection::MySendError(int code, std::string_view message) {
Log(code);
SendError(code, message);
}
void HALSimHttpConnection::Log(int code) {
auto method = wpi::http_method_str(m_request.GetMethod());
- wpi::errs() << method << " " << m_request.GetUrl() << " HTTP/"
- << m_request.GetMajor() << "." << m_request.GetMinor() << " "
- << code << "\n";
+ fmt::print(stderr, "{} {} HTTP/{}.{} {}\n", method, m_request.GetUrl(),
+ m_request.GetMajor(), m_request.GetMinor(), code);
}
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
index 2bc846b..9ecccb0 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
@@ -1,22 +1,23 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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 "HALSimWSServer.h"
#include <WSProviderContainer.h>
+#include <WSProvider_AddressableLED.h>
#include <WSProvider_Analog.h>
+#include <WSProvider_BuiltInAccelerometer.h>
#include <WSProvider_DIO.h>
#include <WSProvider_DriverStation.h>
#include <WSProvider_Encoder.h>
#include <WSProvider_Joystick.h>
+#include <WSProvider_PCM.h>
#include <WSProvider_PWM.h>
#include <WSProvider_Relay.h>
#include <WSProvider_RoboRIO.h>
#include <WSProvider_SimDevice.h>
+#include <WSProvider_Solenoid.h>
#include <WSProvider_dPWM.h>
using namespace wpilibws;
@@ -35,16 +36,20 @@
providers.Add(key, provider);
};
+ HALSimWSProviderAddressableLED::Initialize(registerFunc);
HALSimWSProviderAnalogIn::Initialize(registerFunc);
HALSimWSProviderAnalogOut::Initialize(registerFunc);
+ HALSimWSProviderBuiltInAccelerometer::Initialize(registerFunc);
HALSimWSProviderDIO::Initialize(registerFunc);
HALSimWSProviderDigitalPWM::Initialize(registerFunc);
HALSimWSProviderDriverStation::Initialize(registerFunc);
HALSimWSProviderEncoder::Initialize(registerFunc);
HALSimWSProviderJoystick::Initialize(registerFunc);
+ HALSimWSProviderPCM::Initialize(registerFunc);
HALSimWSProviderPWM::Initialize(registerFunc);
HALSimWSProviderRelay::Initialize(registerFunc);
HALSimWSProviderRoboRIO::Initialize(registerFunc);
+ HALSimWSProviderSolenoid::Initialize(registerFunc);
simDevices.Initialize(loop);
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
index fe5393d..43e3b08 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
@@ -1,18 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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 "HALSimWeb.h"
-#include <wpi/FileSystem.h>
-#include <wpi/Path.h>
+#include <fmt/format.h>
#include <wpi/SmallString.h>
-#include <wpi/Twine.h>
#include <wpi/UrlParser.h>
#include <wpi/WebSocketServer.h>
+#include <wpi/fs.h>
#include <wpi/raw_uv_ostream.h>
#include <wpi/uv/Loop.h>
#include <wpi/uv/Tcp.h>
@@ -29,7 +25,7 @@
m_providers(providers),
m_simDevicesProvider(simDevicesProvider) {
m_loop.error.connect([](uv::Error err) {
- wpi::errs() << "HALSim WS Server libuv ERROR: " << err.str() << '\n';
+ fmt::print(stderr, "HALSim WS Server libuv ERROR: {}\n", err.str());
});
m_server = uv::Tcp::Create(m_loop);
@@ -45,49 +41,40 @@
}
// determine where to get static content from
- // wpi::SmallVector<char, 64> tmp;
- wpi::SmallString<64> tmp;
-
+ fs::path path;
const char* webroot_sys = std::getenv("HALSIMWS_SYSROOT");
- if (webroot_sys != NULL) {
- wpi::StringRef tstr(webroot_sys);
- tmp.append(tstr);
+ if (webroot_sys != nullptr) {
+ path = webroot_sys;
} else {
- wpi::sys::fs::current_path(tmp);
- wpi::sys::path::append(tmp, "sim");
+ path = fs::current_path() / "sim";
}
- wpi::sys::fs::make_absolute(tmp);
- m_webroot_sys = wpi::Twine(tmp).str();
+ m_webroot_sys = fs::absolute(path).string();
- tmp.clear();
const char* webroot_user = std::getenv("HALSIMWS_USERROOT");
- if (webroot_user != NULL) {
- wpi::StringRef tstr(webroot_user);
- tmp.append(tstr);
+ if (webroot_user != nullptr) {
+ path = webroot_sys;
} else {
- wpi::sys::fs::current_path(tmp);
- wpi::sys::path::append(tmp, "sim", "user");
+ path = fs::current_path() / "sim" / "user";
}
- wpi::sys::fs::make_absolute(tmp);
- m_webroot_user = wpi::Twine(tmp).str();
+ m_webroot_user = fs::absolute(path).string();
const char* uri = std::getenv("HALSIMWS_URI");
- if (uri != NULL) {
+ if (uri != nullptr) {
m_uri = uri;
} else {
m_uri = "/wpilibws";
}
const char* port = std::getenv("HALSIMWS_PORT");
- if (port != NULL) {
+ if (port != nullptr) {
try {
m_port = std::stoi(port);
} catch (const std::invalid_argument& err) {
- wpi::errs() << "Error decoding HALSIMWS_PORT (" << err.what() << ")\n";
+ fmt::print(stderr, "Error decoding HALSIMWS_PORT ({})\n", err.what());
return false;
}
} else {
- m_port = 8080;
+ m_port = 3300;
}
return true;
@@ -99,7 +86,9 @@
// when we get a connection, accept it and start reading
m_server->connection.connect([this, srv = m_server.get()] {
auto tcp = srv->Accept();
- if (!tcp) return;
+ if (!tcp) {
+ return;
+ }
tcp->SetNoDelay(true);
@@ -109,8 +98,8 @@
// start listening for incoming connections
m_server->Listen();
- wpi::outs() << "Listening at http://localhost:" << m_port << "\n";
- wpi::outs() << "WebSocket URI: " << m_uri << "\n";
+ fmt::print("Listening at http://localhost:{}\n", m_port);
+ fmt::print("WebSocket URI: {}\n", m_uri);
}
bool HALSimWeb::RegisterWebsocket(
@@ -165,6 +154,6 @@
provider->OnNetValueChanged(msg.at("data"));
}
} catch (wpi::json::exception& e) {
- wpi::errs() << "Error with incoming message: " << e.what() << "\n";
+ fmt::print(stderr, "Error with incoming message: {}\n", e.what());
}
}
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/main.cpp b/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
index 025a902..1ee0ae8 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
@@ -1,14 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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 <cstdio>
#include <memory>
#include <hal/Extensions.h>
-#include <wpi/raw_ostream.h>
#include "HALSimWSServer.h"
@@ -22,7 +19,7 @@
__declspec(dllexport)
#endif
int HALSIM_InitExtension(void) {
- wpi::outs() << "Websocket WS Server Initializing.\n";
+ std::puts("Websocket WS Server Initializing.");
HAL_OnShutdown(nullptr, [](void*) { gServer.reset(); });
@@ -31,7 +28,7 @@
return -1;
}
- wpi::outs() << "Websocket WS Server Initialized!\n";
+ std::puts("Websocket WS Server Initialized!");
return 0;
}
} // extern "C"
diff --git a/simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h b/simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h
index 89e6c83..217e2ba 100644
--- a/simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h
+++ b/simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h
@@ -1,14 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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 <cinttypes>
#include <memory>
+#include <string_view>
#include <utility>
#include <HALSimBaseWebSocketConnection.h>
@@ -41,14 +39,13 @@
protected:
void ProcessRequest() override;
- bool IsValidWsUpgrade(wpi::StringRef protocol) override;
+ bool IsValidWsUpgrade(std::string_view protocol) override;
void ProcessWsUpgrade() override;
- void SendFileResponse(int code, const wpi::Twine& codeText,
- const wpi::Twine& contentType,
- const wpi::Twine& filename,
- const wpi::Twine& extraHeader = wpi::Twine{});
+ void SendFileResponse(int code, std::string_view codeText,
+ std::string_view contentType, std::string_view filename,
+ std::string_view extraHeader = {});
- void MySendError(int code, const wpi::Twine& message);
+ void MySendError(int code, std::string_view message);
void Log(int code);
private:
diff --git a/simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h b/simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h
index d75341b..484bfff 100644
--- a/simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h
+++ b/simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h b/simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h
index f71cbdf..83a680e 100644
--- a/simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h
+++ b/simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -14,7 +11,6 @@
#include <WSBaseProvider.h>
#include <WSProviderContainer.h>
#include <WSProvider_SimDevice.h>
-#include <wpi/StringRef.h>
#include <wpi/uv/Async.h>
#include <wpi/uv/Loop.h>
#include <wpi/uv/Tcp.h>
@@ -45,9 +41,9 @@
// network -> sim
void OnNetValueChanged(const wpi::json& msg);
- wpi::StringRef GetWebrootSys() const { return m_webroot_sys; }
- wpi::StringRef GetWebrootUser() const { return m_webroot_user; }
- wpi::StringRef GetServerUri() const { return m_uri; }
+ const std::string& GetWebrootSys() const { return m_webroot_sys; }
+ const std::string& GetWebrootUser() const { return m_webroot_user; }
+ const std::string& GetServerUri() const { return m_uri; }
int GetServerPort() const { return m_port; }
wpi::uv::Loop& GetLoop() { return m_loop; }
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
index 6cdac5a..f13a0c6 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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 "WebServerClientTest.h"
-#include <sstream>
+#include <cstdio>
+#include <fmt/format.h>
#include <wpi/SmallString.h>
-#include <wpi/raw_ostream.h>
#include <wpi/raw_uv_ostream.h>
#include <wpi/uv/util.h>
@@ -23,14 +20,12 @@
// Create Web Socket and specify event callbacks
void WebServerClientTest::InitializeWebSocket(const std::string& host, int port,
const std::string& uri) {
- std::stringstream ss;
- ss << host << ":" << port;
- wpi::outs() << "Will attempt to connect to: " << ss.str() << uri << "\n";
- m_websocket =
- wpi::WebSocket::CreateClient(*m_tcp_client.get(), uri, ss.str());
+ fmt::print("Will attempt to connect to: {}:{}{}\n", host, port, uri);
+ m_websocket = wpi::WebSocket::CreateClient(*m_tcp_client.get(), uri,
+ fmt::format("{}:{}", host, port));
// Hook up events
- m_websocket->open.connect_extended([this](auto conn, wpi::StringRef) {
+ m_websocket->open.connect_extended([this](auto conn, auto) {
conn.disconnect();
m_buffers = std::make_unique<BufferPool>();
@@ -41,17 +36,17 @@
});
m_ws_connected = true;
- wpi::errs() << "WebServerClientTest: WebSocket Connected\n";
+ std::fputs("WebServerClientTest: WebSocket Connected\n", stderr);
});
- m_websocket->text.connect([this](wpi::StringRef msg, bool) {
+ m_websocket->text.connect([this](auto msg, bool) {
wpi::json j;
try {
j = wpi::json::parse(msg);
} catch (const wpi::json::parse_error& e) {
std::string err("JSON parse failed: ");
err += e.what();
- wpi::errs() << err << "\n";
+ fmt::print(stderr, "{}\n", err);
m_websocket->Fail(1003, err);
return;
}
@@ -59,9 +54,9 @@
m_json = j;
});
- m_websocket->closed.connect([this](uint16_t, wpi::StringRef) {
+ m_websocket->closed.connect([this](uint16_t, auto) {
if (m_ws_connected) {
- wpi::errs() << "WebServerClientTest: Websocket Disconnected\n";
+ std::fputs("WebServerClientTest: Websocket Disconnected\n", stderr);
m_ws_connected = false;
}
});
@@ -70,11 +65,11 @@
// Create tcp client, specify callbacks, and create timers for loop
bool WebServerClientTest::Initialize() {
m_loop.error.connect(
- [](uv::Error err) { wpi::errs() << "uv Error: " << err.str() << "\n"; });
+ [](uv::Error err) { fmt::print(stderr, "uv Error: {}\n", err.str()); });
m_tcp_client = uv::Tcp::Create(m_loop);
if (!m_tcp_client) {
- wpi::errs() << "ERROR: Could not create TCP Client\n";
+ std::fputs("ERROR: Could not create TCP Client\n", stderr);
return false;
}
@@ -93,7 +88,7 @@
});
m_tcp_client->closed.connect(
- []() { wpi::errs() << "TCP connection closed\n"; });
+ []() { std::fputs("TCP connection closed\n", stderr); });
// Set up the connection timer
m_connect_timer = uv::Timer::Create(m_loop);
@@ -104,33 +99,32 @@
m_connect_timer->timeout.connect([this] { AttemptConnect(); });
m_connect_timer->Start(uv::Timer::Time(0));
- wpi::outs() << "WebServerClientTest Initialized\n";
+ std::puts("WebServerClientTest Initialized");
return true;
}
void WebServerClientTest::AttemptConnect() {
m_connect_attempts++;
- wpi::outs() << "Test Client Connection Attempt " << m_connect_attempts
- << "\n";
+ fmt::print("Test Client Connection Attempt {}\n", m_connect_attempts);
if (m_connect_attempts >= 5) {
- wpi::errs() << "Test Client Timeout. Unable to connect\n";
+ std::fputs("Test Client Timeout. Unable to connect\n", stderr);
m_loop.Stop();
return;
}
struct sockaddr_in dest;
- uv::NameToAddr("localhost", 8080, &dest);
+ uv::NameToAddr("localhost", 3300, &dest);
m_tcp_client->Connect(dest, [this]() {
m_tcp_connected = true;
- InitializeWebSocket("localhost", 8080, "/wpilibws");
+ InitializeWebSocket("localhost", 3300, "/wpilibws");
});
}
void WebServerClientTest::SendMessage(const wpi::json& msg) {
if (msg.empty()) {
- wpi::errs() << "Message to send is empty\n";
+ std::fputs("Message to send is empty\n", stderr);
return;
}
@@ -150,13 +144,15 @@
m_buffers->Release(bufs);
}
if (err) {
- wpi::errs() << err.str() << "\n";
- wpi::errs().flush();
+ fmt::print(stderr, "{}\n", err.str());
+ std::fflush(stderr);
}
});
});
}
-const wpi::json& WebServerClientTest::GetLastMessage() { return m_json; }
+const wpi::json& WebServerClientTest::GetLastMessage() {
+ return m_json;
+}
} // namespace wpilibws
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
index 4172f19..ef31ba1 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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 <thread>
+#include <fmt/format.h>
#include <hal/DriverStation.h>
#include <hal/HALBase.h>
#include <hal/Main.h>
#include <hal/simulation/DIOData.h>
-#include <wpi/raw_ostream.h>
#include <wpi/uv/Loop.h>
#include "HALSimWSServer.h"
@@ -44,7 +41,7 @@
HALSimWSServer m_server;
};
-TEST_F(WebServerIntegrationTest, DigitalOutput) {
+TEST_F(WebServerIntegrationTest, DISABLED_DigitalOutput) {
// Create expected results
const bool EXPECTED_VALUE = false;
const int PIN = 0;
@@ -58,8 +55,8 @@
return;
}
if (IsConnectedClientWS()) {
- wpi::outs() << "***** Setting DIO value for pin " << PIN << " to "
- << (EXPECTED_VALUE ? "true" : "false") << "\n";
+ fmt::print("***** Setting DIO value for pin {} to {}\n", PIN,
+ (EXPECTED_VALUE ? "true" : "false"));
HALSIM_SetDIOValue(PIN, EXPECTED_VALUE);
done = true;
}
@@ -86,7 +83,7 @@
test_value = it.value();
}
} catch (wpi::json::exception& e) {
- wpi::errs() << "Error with incoming message: " << e.what() << "\n";
+ fmt::print(stderr, "Error with incoming message: {}\n", e.what());
}
// Compare results
@@ -95,7 +92,7 @@
EXPECT_EQ(EXPECTED_VALUE, test_value);
}
-TEST_F(WebServerIntegrationTest, DigitalInput) {
+TEST_F(WebServerIntegrationTest, DISABLED_DigitalInput) {
// Create expected results
const bool EXPECTED_VALUE = false;
const int PIN = 0;
@@ -112,7 +109,7 @@
wpi::json msg = {{"type", "DIO"},
{"device", std::to_string(PIN)},
{"data", {{"<>value", EXPECTED_VALUE}}}};
- wpi::outs() << "***** Input JSON: " << msg.dump() << "\n";
+ fmt::print("***** Input JSON: {}\n", msg.dump());
m_webserverClient->SendMessage(msg);
done = true;
}
@@ -147,7 +144,7 @@
{"type", "DriverStation"},
{"device", ""},
{"data", {{">enabled", EXPECTED_VALUE}, {">new_data", true}}}};
- wpi::outs() << "***** Input JSON: " << msg.dump() << "\n";
+ fmt::print("***** Input JSON: {}\n", msg.dump());
m_webserverClient->SendMessage(msg);
done = true;
}
diff --git a/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h b/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h
index 909c4ba..08db565 100644
--- a/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h
+++ b/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
+// 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